69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
18.8s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 31.0s | 6 errors · 112 warnings · 202 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 3.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849793.57939601 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.701ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 11.042ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849794.13368869 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.533ms + 4.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.921ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.598ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.170ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 5.09sWARNstate_estimatorOptimization exceeded the configured duration by 17368861ns + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 5.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.143ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.876ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.469ms + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.237ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.778ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850693 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850693 ms (missed cycles : 3).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.082ms + 8.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.332ms + 8.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.460ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378710 ms (missed cycles : 4). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378710 ms (missed cycles : 4).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.372ms + 9.19sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 4.091ms + 9.49sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 4.285ms + 9.81sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 2.922ms + 10.01sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 4.605ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509297 ms (missed cycles : 5). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509297 ms (missed cycles : 5).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.121ms + 10.59sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.480ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.220ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599537 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599537 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.492ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296302 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296302 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.527ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562557 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562557 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085924 ms (missed cycles : 3). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085924 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787418 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787418 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 15.48sWARNstate_estimatorOptimization exceeded the configured duration by 9484453ns + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323192 ms (missed cycles : 4). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323192 ms (missed cycles : 4).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225778 ms (missed cycles : 5). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225778 ms (missed cycles : 5).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387418 ms (missed cycles : 3). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387418 ms (missed cycles : 3).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263216 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263216 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911483 ms (missed cycles : 5). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911483 ms (missed cycles : 5).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.259ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212196 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212196 ms (missed cycles : 4).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847845 ms (missed cycles : 4). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847845 ms (missed cycles : 4).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901165 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901165 ms (missed cycles : 2).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.539ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680351 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680351 ms (missed cycles : 2).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846551 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846551 ms (missed cycles : 2).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103540 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103540 ms (missed cycles : 2).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.595ms + 27.18sWARNstate_estimatorOptimization exceeded the configured duration by 7021213ns + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.570ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644830 ms (missed cycles : 2). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644830 ms (missed cycles : 2).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947993 ms (missed cycles : 5). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947993 ms (missed cycles : 5).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165637 ms (missed cycles : 5). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165637 ms (missed cycles : 5).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884167 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884167 ms (missed cycles : 2).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130445 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130445 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879440 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879440 ms (missed cycles : 2).[0m ×2 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119366 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119366 ms (missed cycles : 2).[0m ×2 + 34.43sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.44sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 34.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784849824.56388354 seconds ×3 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.256ms + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.042ms + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823334 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823334 ms (missed cycles : 2).[0m ×2 + 35.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.085ms + 35.10sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784849825.22562647 seconds. ×3 + 35.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.069ms + 35.38sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 35.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.211ms + 35.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.610ms + 35.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.815ms + 36.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.100ms + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443659 ms (missed cycles : 6). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443659 ms (missed cycles : 6).[0m ×2 + 36.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.285ms + 36.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.455ms + 36.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.131ms + 36.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.974ms + 36.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.582ms + 37.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.171ms + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568598 ms (missed cycles : 3). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568598 ms (missed cycles : 3).[0m ×2 + 37.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.126ms + 37.29sWARNstate_estimatorOptimization exceeded the configured duration by 11513777ns + 37.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.394ms + 37.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.154ms + 37.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.738ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.5s | 9 errors · 108 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 3.329ms + 0.29sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 4.155ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702089 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702089 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.562ms + 0.81sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 3.399ms + 1.01sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.328ms + 1.19sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.363ms + 1.39sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 3.400ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775492 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775492 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.946ms + 2.01sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.122ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.607ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941655 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941655 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.003ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.962ms + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.810ms + 3.51sINFOjoint_trajectory_controllerGot request to cancel goal + 3.51sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.51sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.51sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784849835.54402208 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525688 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525688 ms (missed cycles : 4).[0m ×2 + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784849836.08644223 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.120ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.103ms + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383381 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383381 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.010ms + 5.00sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.438ms + 5.20sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.418ms + 5.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.31sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.051ms + 5.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNstate_estimatorOptimization exceeded the configured duration by 223775ns + 5.50sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.626ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644349 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644349 ms (missed cycles : 3).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.993ms + 5.79sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.746ms + 6.01sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.467ms + 6.20sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.596ms + 6.41sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 3.697ms + 6.71sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.527ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230346 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230346 ms (missed cycles : 2).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 3.085ms + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742996 ms (missed cycles : 5). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742996 ms (missed cycles : 5).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.948ms + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.459ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105663 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105663 ms (missed cycles : 5).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.777ms + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.948ms + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.678ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535111 ms (missed cycles : 6). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535111 ms (missed cycles : 6).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954491 ms (missed cycles : 5). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954491 ms (missed cycles : 5).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms ×2 + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.424681 ms (missed cycles : 6). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.424681 ms (missed cycles : 6).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562856 ms (missed cycles : 4). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562856 ms (missed cycles : 4).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663121 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663121 ms (missed cycles : 3).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252359 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252359 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498461 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498461 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.296ms + 16.78sWARNstate_estimatorOptimization exceeded the configured duration by 2997643ns + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608532 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608532 ms (missed cycles : 3).[0m ×2 + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650681 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650681 ms (missed cycles : 3).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223590 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223590 ms (missed cycles : 2).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291919 ms (missed cycles : 4). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291919 ms (missed cycles : 4).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915954 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915954 ms (missed cycles : 2).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151041 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151041 ms (missed cycles : 2).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624132 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624132 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726939 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726939 ms (missed cycles : 3).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.120ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613527 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613527 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171930 ms (missed cycles : 4). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171930 ms (missed cycles : 4).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 27.58sWARNstate_estimatorOptimization exceeded the configured duration by 3911960ns + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321677 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321677 ms (missed cycles : 3).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.299ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274579 ms (missed cycles : 4). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274579 ms (missed cycles : 4).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 32.59sINFOjoint_trajectory_controllerGoal reached, success! + 32.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 32.97sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 32.98sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 32.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 33.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 33.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 33.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 34.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 34.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 35.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 35.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.4s | 188 warnings · 246 info |
+ 0.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849701.67382097 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4).[0m ×2 + 6.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943363 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943363 ms (missed cycles : 3).[0m ×2 + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492440 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492440 ms (missed cycles : 3).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 9.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580741 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580741 ms (missed cycles : 3).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 9.96sWARNstate_estimatorOptimization exceeded the configured duration by 2984552ns + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598848 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598848 ms (missed cycles : 3).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 11.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331195 ms (missed cycles : 5). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331195 ms (missed cycles : 5).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861332 ms (missed cycles : 5). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861332 ms (missed cycles : 5).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 12.89sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096651 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096651 ms (missed cycles : 2).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629498 ms (missed cycles : 4). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629498 ms (missed cycles : 4).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216322 ms (missed cycles : 5). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216322 ms (missed cycles : 5).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661289 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661289 ms (missed cycles : 3).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.915ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159121 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159121 ms (missed cycles : 4).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948539 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948539 ms (missed cycles : 2).[0m ×2 + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064202 ms (missed cycles : 4). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064202 ms (missed cycles : 4).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 20.36sWARNstate_estimatorOptimization exceeded the configured duration by 1382915ns + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256217 ms (missed cycles : 7). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256217 ms (missed cycles : 7).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346112 ms (missed cycles : 2). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346112 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117785 ms (missed cycles : 2). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117785 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567863 ms (missed cycles : 5). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567863 ms (missed cycles : 5).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641814 ms (missed cycles : 3). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641814 ms (missed cycles : 3).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885923 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885923 ms (missed cycles : 2).[0m ×2 + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms ×2 + 28.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248709 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248709 ms (missed cycles : 2).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383927 ms (missed cycles : 4). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383927 ms (missed cycles : 4).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578225 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578225 ms (missed cycles : 2).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996509 ms (missed cycles : 2). + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.231ms + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996509 ms (missed cycles : 2).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 31.76sWARNstate_estimatorOptimization exceeded the configured duration by 2062392ns + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.271538 ms (missed cycles : 7). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.271538 ms (missed cycles : 7).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.477ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.463ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481033 ms (missed cycles : 3). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481033 ms (missed cycles : 3).[0m ×2 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 34.31sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806291 ms (missed cycles : 5). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806291 ms (missed cycles : 5).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216812 ms (missed cycles : 4). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216812 ms (missed cycles : 4).[0m ×2 + 35.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592768 ms (missed cycles : 4). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592768 ms (missed cycles : 4).[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188410 ms (missed cycles : 7). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188410 ms (missed cycles : 7).[0m ×2 + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374259 ms (missed cycles : 3). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374259 ms (missed cycles : 3).[0m ×2 + 38.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667143 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667143 ms (missed cycles : 2).[0m ×2 + 40.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266905 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266905 ms (missed cycles : 2).[0m ×2 + 41.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973221 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973221 ms (missed cycles : 2).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974745 ms (missed cycles : 4). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974745 ms (missed cycles : 4).[0m ×2 + 43.86sWARNstate_estimatorOptimization exceeded the configured duration by 621039ns + 43.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534157 ms (missed cycles : 5). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534157 ms (missed cycles : 5).[0m ×2 + 44.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047041 ms (missed cycles : 3). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047041 ms (missed cycles : 3).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232823 ms (missed cycles : 4). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232823 ms (missed cycles : 4).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988626 ms (missed cycles : 2). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988626 ms (missed cycles : 2).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000867 ms (missed cycles : 2). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000867 ms (missed cycles : 2).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.427ms + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467346 ms (missed cycles : 3). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467346 ms (missed cycles : 3).[0m ×2 + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957215 ms (missed cycles : 3). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957215 ms (missed cycles : 3).[0m ×2 + 50.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.610ms + 51.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805514 ms (missed cycles : 2). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805514 ms (missed cycles : 2).[0m ×2 + 52.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695269 ms (missed cycles : 3). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695269 ms (missed cycles : 3).[0m ×2 + 53.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004116 ms (missed cycles : 3). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004116 ms (missed cycles : 3).[0m ×2 + 53.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 54.56sWARNstate_estimatorOptimization exceeded the configured duration by 2400150ns + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303105 ms (missed cycles : 4). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303105 ms (missed cycles : 4).[0m ×2 + 54.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 55.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 55.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898509 ms (missed cycles : 2). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898509 ms (missed cycles : 2).[0m ×2 + 56.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 57.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 58.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 58.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 58.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 58.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 59.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 60.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 60.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 60.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 60.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 60.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 60.71sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 60.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 60.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 60.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 61.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 61.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 62.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 62.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 62.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 63.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.9s | 6 errors · 185 warnings · 229 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.58sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.58sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633302 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633302 ms (missed cycles : 3).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804088 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804088 ms (missed cycles : 3).[0m ×2 + 8.57sWARNstate_estimatorOptimization exceeded the configured duration by 7940432ns + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms ×2 + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192093 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192093 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581591 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581591 ms (missed cycles : 3).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249602 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249602 ms (missed cycles : 2).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871931 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871931 ms (missed cycles : 3).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610827 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610827 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620605 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620605 ms (missed cycles : 3).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668959 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668959 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733930 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733930 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761028 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761028 ms (missed cycles : 2).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078632 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078632 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 19.17sWARNstate_estimatorOptimization exceeded the configured duration by 12015885ns + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854224 ms (missed cycles : 5). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854224 ms (missed cycles : 5).[0m ×2 + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965643 ms (missed cycles : 5). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965643 ms (missed cycles : 5).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308285 ms (missed cycles : 4). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308285 ms (missed cycles : 4).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.126ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032544 ms (missed cycles : 4). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032544 ms (missed cycles : 4).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033849 ms (missed cycles : 2). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033849 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192112 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192112 ms (missed cycles : 3).[0m ×2 + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291960 ms (missed cycles : 4). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291960 ms (missed cycles : 4).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.494767 ms (missed cycles : 6). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.494767 ms (missed cycles : 6).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms ×3 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577089 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577089 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 29.11sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901561 ms (missed cycles : 2). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901561 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846859 ms (missed cycles : 8). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846859 ms (missed cycles : 8).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619503 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619503 ms (missed cycles : 2).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 32.37sWARNstate_estimatorOptimization exceeded the configured duration by 5971684ns + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834858 ms (missed cycles : 3). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834858 ms (missed cycles : 3).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 32.89sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125400 ms (missed cycles : 3). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125400 ms (missed cycles : 3).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915383 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915383 ms (missed cycles : 2).[0m ×2 + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.981327 ms (missed cycles : 8). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.981327 ms (missed cycles : 8).[0m ×2 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461643 ms (missed cycles : 3). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461643 ms (missed cycles : 3).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931013 ms (missed cycles : 3). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931013 ms (missed cycles : 3).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302602 ms (missed cycles : 4). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302602 ms (missed cycles : 4).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364789 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364789 ms (missed cycles : 2).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600702 ms (missed cycles : 3). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600702 ms (missed cycles : 3).[0m ×2 + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047055 ms (missed cycles : 2). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047055 ms (missed cycles : 2).[0m ×2 + 42.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674688 ms (missed cycles : 5). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674688 ms (missed cycles : 5).[0m ×2 + 42.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083728 ms (missed cycles : 5). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083728 ms (missed cycles : 5).[0m ×2 + 43.77sWARNstate_estimatorOptimization exceeded the configured duration by 11832365ns + 44.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238000 ms (missed cycles : 4). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238000 ms (missed cycles : 4).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827642 ms (missed cycles : 2). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827642 ms (missed cycles : 2).[0m ×2 + 45.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425253 ms (missed cycles : 3). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425253 ms (missed cycles : 3).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876013 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876013 ms (missed cycles : 2).[0m ×2 + 48.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526694 ms (missed cycles : 2). + 48.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526694 ms (missed cycles : 2).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657219 ms (missed cycles : 6). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657219 ms (missed cycles : 6).[0m ×2 + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 50.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4). + 50.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020225 ms (missed cycles : 4).[0m ×2 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696606 ms (missed cycles : 2). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696606 ms (missed cycles : 2).[0m ×2 + 52.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638073 ms (missed cycles : 3). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638073 ms (missed cycles : 3).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.179ms + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273810 ms (missed cycles : 4). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273810 ms (missed cycles : 4).[0m ×2 + 54.29sWARNstate_estimatorOptimization exceeded the configured duration by 22749590ns + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861445 ms (missed cycles : 2). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861445 ms (missed cycles : 2).[0m ×2 + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960602 ms (missed cycles : 2). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960602 ms (missed cycles : 2).[0m ×2 + 56.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226926 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226926 ms (missed cycles : 2).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256540 ms (missed cycles : 2). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256540 ms (missed cycles : 2).[0m ×2 + 58.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849919.93848896 seconds ×3 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 58.98sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.345ms + 59.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849920.48988986 seconds. ×3 + 59.18sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.868ms + 59.35sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 59.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403505 ms (missed cycles : 2). + 59.39sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.068ms + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403505 ms (missed cycles : 2).[0m ×2 + 59.58sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.543ms + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212696 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212696 ms (missed cycles : 4).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.001ms + 60.90sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.348ms + 61.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 61.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389425 ms (missed cycles : 5). + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389425 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 151 warnings · 159 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.57sINFOmove_groupClearing octomap...[0m ×2 + 1.57sINFOmove_groupOctomap cleared.[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.58sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.092ms + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178513 ms (missed cycles : 4). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178513 ms (missed cycles : 4).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639671 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639671 ms (missed cycles : 3).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913189 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913189 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244951 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244951 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674661 ms (missed cycles : 4). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674661 ms (missed cycles : 4).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375647 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375647 ms (missed cycles : 4).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567247 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567247 ms (missed cycles : 3).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603607 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603607 ms (missed cycles : 3).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345664 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345664 ms (missed cycles : 3).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616637 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616637 ms (missed cycles : 3).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561691 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561691 ms (missed cycles : 3).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.243ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471003 ms (missed cycles : 4). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471003 ms (missed cycles : 4).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517944 ms (missed cycles : 5). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517944 ms (missed cycles : 5).[0m ×2 + 21.18sWARNstate_estimatorOptimization exceeded the configured duration by 9933288ns + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564393 ms (missed cycles : 4). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564393 ms (missed cycles : 4).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134472 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134472 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968939 ms (missed cycles : 3). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968939 ms (missed cycles : 3).[0m ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246457 ms (missed cycles : 5). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246457 ms (missed cycles : 5).[0m ×2 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462107 ms (missed cycles : 7). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462107 ms (missed cycles : 7).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007279 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007279 ms (missed cycles : 2).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880316 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880316 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636593 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636593 ms (missed cycles : 3).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.850487 ms (missed cycles : 5). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.850487 ms (missed cycles : 5).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744362 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744362 ms (missed cycles : 2).[0m ×2 + 31.18sWARNstate_estimatorOptimization exceeded the configured duration by 14923112ns + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357606 ms (missed cycles : 4). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357606 ms (missed cycles : 4).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314067 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314067 ms (missed cycles : 2).[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289546 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289546 ms (missed cycles : 4).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810357 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810357 ms (missed cycles : 3).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757958 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757958 ms (missed cycles : 3).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176570 ms (missed cycles : 2). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176570 ms (missed cycles : 2).[0m ×2 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198405 ms (missed cycles : 2). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198405 ms (missed cycles : 2).[0m ×2 + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797753 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797753 ms (missed cycles : 3).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342615 ms (missed cycles : 5). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342615 ms (missed cycles : 5).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502821 ms (missed cycles : 3). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502821 ms (missed cycles : 3).[0m ×2 + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731456 ms (missed cycles : 3). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731456 ms (missed cycles : 3).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287519 ms (missed cycles : 2). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287519 ms (missed cycles : 2).[0m ×2 + 43.77sWARNstate_estimatorOptimization exceeded the configured duration by 6720519ns + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5).[0m ×2 + 47.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 47.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 47.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 47.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 48.46sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 48.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 49.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 50.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 112 warnings · 183 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 1.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.691ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809059 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809059 ms (missed cycles : 3).[0m ×2 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784849761.99128747 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761607 ms (missed cycles : 5). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761607 ms (missed cycles : 5).[0m ×2 + 2.89sWARNstate_estimatorOptimization exceeded the configured duration by 113933136ns + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784849763.53923535 seconds. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189425 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189425 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329325 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329325 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162420 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162420 ms (missed cycles : 2).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.173ms + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538977 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538977 ms (missed cycles : 5).[0m ×2 + 7.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.244ms + 7.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.057ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346018 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346018 ms (missed cycles : 4).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.931ms + 8.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.631ms + 8.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.459ms + 8.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.512ms + 8.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.218ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394943 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394943 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.956ms + 9.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.994ms + 9.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.518ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621272 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621272 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.888ms + 10.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.405ms + 10.42sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.108ms + 10.62sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.73sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.575ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701920 ms (missed cycles : 5). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701920 ms (missed cycles : 5).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 5.102ms + 11.11sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 3.686ms + 11.40sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 3.309ms + 11.61sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.472ms + 11.90sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.403ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301420 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301420 ms (missed cycles : 5).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.003ms + 12.72sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.113ms + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222992 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222992 ms (missed cycles : 4).[0m ×2 + 13.18sWARNstate_estimatorOptimization exceeded the configured duration by 4251003ns + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.642ms + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845811 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845811 ms (missed cycles : 2).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781301 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781301 ms (missed cycles : 3).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199458 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199458 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213527 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213527 ms (missed cycles : 2).[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925330 ms (missed cycles : 5). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925330 ms (missed cycles : 5).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536216 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536216 ms (missed cycles : 3).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000269 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000269 ms (missed cycles : 2).[0m ×2 + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282656 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282656 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556131 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556131 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207323 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207323 ms (missed cycles : 2).[0m ×2 + 23.68sWARNstate_estimatorOptimization exceeded the configured duration by 1953387ns + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775296 ms (missed cycles : 2). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775296 ms (missed cycles : 2).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245465 ms (missed cycles : 4). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245465 ms (missed cycles : 4).[0m ×2 + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453042 ms (missed cycles : 4). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453042 ms (missed cycles : 4).[0m ×2 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.205ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141674 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141674 ms (missed cycles : 2).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.838ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242304 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242304 ms (missed cycles : 2).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624910 ms (missed cycles : 6). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624910 ms (missed cycles : 6).[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5).[0m ×2 + 33.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849793.57939601 seconds ×3 + 33.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 33.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.701ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4).[0m ×2 + 34.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 11.042ms + 34.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849794.13368869 seconds. ×3 + 34.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.533ms + 34.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 34.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 34.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.921ms + 34.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.598ms + 35.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.170ms + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 35.30sWARNstate_estimatorOptimization exceeded the configured duration by 17368861ns + 35.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.094ms + 35.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 35.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.143ms + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3).[0m ×2 + 36.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.876ms + 36.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 36.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.469ms + 36.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.237ms + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.2s | 97 errors · 33 warnings · 456 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849932.47157478 seconds ×3 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849933.05180454 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849933.42193699 seconds ×3 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849933.96214867 seconds. ×3 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 4.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849934.41229677 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 4.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4). + 4.90sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.855ms + 5.10sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.175ms + 5.30sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.197ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772549 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772549 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071340 ms (missed cycles : 4). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071340 ms (missed cycles : 4).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874216 ms (missed cycles : 5). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874216 ms (missed cycles : 5).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208897 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208897 ms (missed cycles : 3).[0m ×2 + 10.74sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 10.79sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORweb_video_auth_proxy-36process has died [pid 13688, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.79sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 10.83sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_bridge_auth_proxy-35process has died [pid 13687, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.83sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 10.88sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 10.90sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 10.92sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 10.94sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 10.96sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.98sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.01sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 11.03sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 11.06sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 11.08sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741004 ms (missed cycles : 3). + 11.11sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 11.13sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 11.16sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 11.16sINFOcontroller_managerShutdown request received.... + 11.16sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.16sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.16sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.16sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.16sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.16sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.16sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.16sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.16sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.16sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.16sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.16sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.16sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.16sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down the controller manager. + 11.17sINFOweb_video_server-34process has finished cleanly [pid 13686] ×2 + 11.17sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13685] ×2 + 11.17sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 11.19sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 11.19sERRORmove_group-22process has died [pid 13640, 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_wwvv31pz --params-file /tmp/launch_params_b15jkmnu --params-file /tmp/launch_params_cye3cijc --params-file /tmp/launch_params_xl8ujgkf --params-file /tmp/launch_params_u349xcj3 --params-file /tmp/launch_params_0k7cj__r']. ×2 + 11.21sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.24sERRORui_teleop_bridge-31process has died [pid 13668, 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_u47w6cj5']. ×2 + 11.26sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 11.28sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 11.30sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.30sINFOexecute_objective_bridge-30process has finished cleanly [pid 13667] ×2 + 11.32sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.34sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.34sERRORobjective_server_node_main-27process has died [pid 13664, 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_jqs0ef5r --params-file /tmp/launch_params_mk52j1vp --params-file /tmp/launch_params_88il3zae --params-file /tmp/launch_params_7qxcjk18 --params-file /tmp/launch_params_6pu10fsq --params-file /tmp/launch_params__jl6je5j --params-file /tmp/launch_params_e_ps8b70 --params-file /tmp/launch_params_s69tkrfv --params-file /tmp/launch_params_bdx0zoo0']. ×2 + 11.36sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.36sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.36sINFOcontroller_serverCleaning up + 11.36sINFOlocal_costmap.local_costmapCleaning up + 11.36sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.36sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.36sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.36sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.36sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.36sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.36sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.36sINFOui_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 + 11.36sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.36sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.36sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.36sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.36sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.36sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.36sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.36sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.36sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.36sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 23:39:00.829] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.36sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741004 ms (missed cycles : 3).[0m ×2 + 11.37sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.37sERRORmove_groupStack trace (most recent call last) in thread 14288: ×2 + 11.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff921ccea63, in __clone ×2 + 11.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff921c41aa3, in ×2 + 11.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff921ed3db3, in ×2 + 11.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff922616ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff9222464d0, in rclcpp::Rate::sleep() ×2 + 11.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff922199a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff92215ea71, in ×2 + 11.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff921ea2390, in __cxa_throw ×2 + 11.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff921e8ca54, in std::terminate() ×2 + 11.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff921ea20d9, in ×2 + 11.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff921e8cff4, in ×2 + 11.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff921bcd8fe, in abort ×2 + 11.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff921bea27d, in raise ×2 + 11.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff921c43b2c, in pthread_kill ×2 + 11.37sERRORmove_groupAborted (Signal sent by tkill() 13640 0) ×2 + 11.37sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 11.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.38sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.38sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.38sINFOobjective_server_node[2026-07-23 23:39:01.014] [moveit_pro_license] [info] ×2 + 11.38sINFOobjective_server_node************************************************* ×4 + 11.38sINFOobjective_server_node* MoveIt Pro License ×2 + 11.38sINFOobjective_server_node* Application has successfully terminated ×2 + 11.38sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.38sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.38sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.38sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4b56a4, in _start ×2 + 11.38sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0ad81928a, in __libc_start_main ×2 + 11.38sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0ad8191d0, in ×2 + 11.38sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0ad836bbd, in exit ×2 + 11.38sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0ad836a75, in ×2 + 11.38sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd0add058f5, in spdlog::details::registry::~registry() ×2 + 11.38sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4b5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.38sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4bc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.38sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4bb5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.38sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4b7b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.38sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55becf4b5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.38sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae3bb454, in rclcpp::Node::~Node() ×2 + 11.38sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae376515, in ×2 + 11.38sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae3b9d20, in ×2 + 11.38sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae3b9c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.38sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae3765d9, in ×2 + 11.38sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0ae37b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.38sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd05eab4090]) ×2 + 11.39sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.39sINFOodom_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 + 11.39sINFOodom_qos_relay.pymain() ×2 + 11.39sINFOodom_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 + 11.39sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.39sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.39sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.39sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.39sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.39sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.39sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.39sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.39sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.39sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.39sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.39sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.39sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.39sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 11.39sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.39sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.39sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.39sINFOodom_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 + 11.39sINFOodom_world_drift.pymain() ×2 + 11.39sINFOodom_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 + 11.39sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.39sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.39sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.39sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.39sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.39sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.39sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.39sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.39sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.39sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 11.39sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.40sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.40sINFOsmoother_serverCleaning up + 11.41sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.41sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.41sINFOmap_serverDeactivating + 11.41sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.42sINFOmap_serverCleaning up + 11.42sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.42sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.42sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.42sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.42sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.42sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.44sERRORamclThe bond connection to the lifecycle manager has been broken + 11.45sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.45sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.45sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.45sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.45sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.45sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.45sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.08sINFOcomponent_container_mt-29process has finished cleanly [pid 13666] ×2 + 12.09sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13661] ×2 + 12.09sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784849940.808 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.11sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13660] ×2 + 12.18sINFOparameter_manager_node-23process has finished cleanly [pid 13641] ×2 + 12.18sINFOwaypoint_manager_node-24process has finished cleanly [pid 13659] ×2 + 12.22sINFOcomponent_container_mt-28process has finished cleanly [pid 13665] ×2 + 12.26sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13540] ×2 + 12.28sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13539] ×2 + 12.30sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13541] ×2 + 12.34sINFOslip_aware_odom-4process has finished cleanly [pid 13536] ×2 + 12.35sERRORodom_qos_relay.py-6process has died [pid 13538, 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 + 12.37sINFOstatic_transform_publisher-2process has finished cleanly [pid 13534] ×2 + 13.32sINFOamcl_odom_gate-5process has finished cleanly [pid 13537] ×2 + 13.40sERRORodom_world_drift.py-3process has died [pid 13535, 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_tl5ajvu3']. ×2 + 13.68sINFOweb_bridge-32process has finished cleanly [pid 13669] ×2 + 13.68sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 + 13.86sINFOros2_control_node-10process has finished cleanly [pid 13628] ×2 + 15.75sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.76sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.77sERRORcomponent_container_isolated-1process has died [pid 13533, 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_8c7amd4y --params-file /tmp/launch_params_m95_h11l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 58 warnings · 155 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861445 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861445 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960602 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960602 ms (missed cycles : 2).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226926 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226926 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256540 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256540 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849919.93848896 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 3.98sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.345ms + 4.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849920.48988986 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.868ms + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403505 ms (missed cycles : 2). + 4.39sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.068ms + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403505 ms (missed cycles : 2).[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.543ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212696 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212696 ms (missed cycles : 4).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.001ms + 5.91sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.348ms + 6.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389425 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389425 ms (missed cycles : 5).[0m ×2 + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 7.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650400 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650400 ms (missed cycles : 3).[0m ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140121 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140121 ms (missed cycles : 4).[0m ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 9.02sINFOobjective_server_nodeFound path in 69 iterations (0.0391073 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.47sWARNstate_estimatorOptimization exceeded the configured duration by 5028497ns + 9.53sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747811 ms (missed cycles : 6). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747811 ms (missed cycles : 6).[0m ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463254 ms (missed cycles : 6). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463254 ms (missed cycles : 6).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793254 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793254 ms (missed cycles : 2).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 16.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849932.47157478 seconds ×3 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 16.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849933.05180454 seconds. ×3 + 16.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.62sINFOmove_groupClearing octomap...[0m ×2 + 16.62sINFOmove_groupOctomap cleared.[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 16.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849933.42193699 seconds ×3 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 17.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849933.96214867 seconds. ×3 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 17.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849934.41229677 seconds ×3 + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 18.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4). + 18.29sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.855ms + 18.49sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.175ms + 18.69sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.197ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 9 errors · 56 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884167 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884167 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130445 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130445 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 1.65sINFOjoint_trajectory_controllerGoal reached, success! + 1.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879440 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879440 ms (missed cycles : 2).[0m ×2 + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119366 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119366 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.49sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784849824.56388354 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.256ms + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.042ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823334 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823334 ms (missed cycles : 2).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.085ms + 4.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784849825.22562647 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.069ms + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.46sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.211ms + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.610ms + 4.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.815ms + 5.06sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.100ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443659 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443659 ms (missed cycles : 6).[0m ×2 + 5.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.285ms + 5.34sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.455ms + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.131ms + 5.64sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.974ms + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.86sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.582ms + 6.05sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.171ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568598 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568598 ms (missed cycles : 3).[0m ×2 + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.126ms + 6.33sWARNstate_estimatorOptimization exceeded the configured duration by 11513777ns + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.394ms + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.154ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.738ms + 7.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.232ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566063 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566063 ms (missed cycles : 4).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.086ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424843 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424843 ms (missed cycles : 2).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.301ms + 8.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.636ms + 9.06sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.080ms + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682085 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682085 ms (missed cycles : 2).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 4.243ms + 9.46sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.996ms + 9.86sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 4.073ms + 10.16sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.836ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889833 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889833 ms (missed cycles : 2).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.294ms + 10.66sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.268ms + 10.95sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 3.329ms + 11.24sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 4.155ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702089 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702089 ms (missed cycles : 3).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.562ms + 11.76sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 3.399ms + 11.96sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.328ms + 12.14sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.363ms + 12.34sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 3.400ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775492 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775492 ms (missed cycles : 2).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.946ms + 12.96sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.122ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.607ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941655 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941655 ms (missed cycles : 3).[0m ×2 + 13.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.003ms + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.962ms + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.810ms + 14.46sINFOjoint_trajectory_controllerGot request to cancel goal + 14.46sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784849835.54402208 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525688 ms (missed cycles : 4). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525688 ms (missed cycles : 4).[0m ×2 + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 15.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784849836.08644223 seconds. ×3 + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.120ms + 15.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.103ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383381 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383381 ms (missed cycles : 3).[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.010ms + 15.95sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.438ms + 16.15sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.418ms + 16.26sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.051ms + 16.42sWARNstate_estimatorOptimization exceeded the configured duration by 223775ns + 16.45sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.626ms + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644349 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644349 ms (missed cycles : 3).[0m ×2 + 16.66sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.993ms + 16.74sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.746ms + 16.96sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.467ms + 17.15sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.596ms + 17.36sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 3.697ms + 17.66sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.527ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230346 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230346 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 37 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 7.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.691ms + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809059 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809059 ms (missed cycles : 3).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784849761.99128747 seconds ×3 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761607 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761607 ms (missed cycles : 5).[0m ×2 + 8.80sWARNstate_estimatorOptimization exceeded the configured duration by 113933136ns + 9.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784849763.53923535 seconds. ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189425 ms (missed cycles : 4). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189425 ms (missed cycles : 4).[0m ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329325 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329325 ms (missed cycles : 4).[0m ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162420 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162420 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 31 warnings · 68 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 6720519ns + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 + 6.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 7.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 7.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849701.67382097 seconds. ×3 + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2).[0m ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 21 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849932.47157478 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3).[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849933.05180454 seconds. ×3 + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.12sINFOmove_groupClearing octomap...[0m ×2 + 4.12sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849933.42193699 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5).[0m ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849933.96214867 seconds. ×3 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849934.41229677 seconds ×3 + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4). + 5.79sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.855ms + 5.99sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.175ms + 6.19sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.197ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2).[0m ×2 + 7.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.57sINFOmove_groupClearing octomap...[0m ×2 + 1.57sINFOmove_groupOctomap cleared.[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.58sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.50sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 6720519ns + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 6720519ns + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423684 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318183 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728028 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 65 info |
+ 0.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849697.64214563 seconds ×3 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512218 ms (missed cycles : 4).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849698.18763614 seconds. ×3 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029881 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.8571e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694413 ms (missed cycles : 3).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700037 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849701.11779833 seconds ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849701.67382097 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606487 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064735 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307553 ms (missed cycles : 4).[0m ×2 + 6.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596697 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209044 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100547 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849757.50395727 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.203ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.886ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.339ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849758.06114268 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.161ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.696ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4). + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059688 ms (missed cycles : 4).[0m ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.454ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.752ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.946ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597933 ms (missed cycles : 4).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.962ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055712 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 22 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 3.41sINFOjoint_trajectory_controllerGoal reached, success! + 3.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849793.57939601 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.701ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 11.042ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849794.13368869 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.533ms + 4.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.921ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.598ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.170ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 5.09sWARNstate_estimatorOptimization exceeded the configured duration by 17368861ns + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 5.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.143ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.876ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.469ms + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.237ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 22 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 3.41sINFOjoint_trajectory_controllerGoal reached, success! + 3.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849793.57939601 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.701ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 11.042ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849794.13368869 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.533ms + 4.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.921ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.598ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.170ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 5.09sWARNstate_estimatorOptimization exceeded the configured duration by 17368861ns + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 5.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.143ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.876ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.469ms + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.237ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 22 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577232 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539648 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001459 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 3.41sINFOjoint_trajectory_controllerGoal reached, success! + 3.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849793.57939601 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.701ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025629 ms (missed cycles : 4).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 11.042ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849794.13368869 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.533ms + 4.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.921ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.598ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.170ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762361 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 5.09sWARNstate_estimatorOptimization exceeded the configured duration by 17368861ns + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 5.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.143ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356691 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.876ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.469ms + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.237ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033434 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 21 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.227ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844049 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.599ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082848 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173629 ms (missed cycles : 4).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935221 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849865.00664210 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 4.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849865.59834075 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318262 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174306 ms (missed cycles : 5).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386263 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918792 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952097 ms (missed cycles : 5).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794098 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849932.47157478 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206471 ms (missed cycles : 3).[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849933.05180454 seconds. ×3 + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.12sINFOmove_groupClearing octomap...[0m ×2 + 4.12sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849933.42193699 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501612 ms (missed cycles : 5).[0m ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849933.96214867 seconds. ×3 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849934.41229677 seconds ×3 + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4). + 5.79sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.855ms + 5.99sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.175ms + 6.19sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.197ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375340 ms (missed cycles : 4).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745186 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 25.3s | 70 errors · 683 warnings · 1940 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/2026-07-23-23-28-24-379686-9c39ea5746b0-9385 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 9.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 9.21sINFOros2_control_node-10process started with pid [9530] + 9.21sINFOmove_group-22process started with pid [9542] + 9.21sINFOparameter_manager_node-23process started with pid [9543] + 9.21sINFOwaypoint_manager_node-24process started with pid [9559] + 9.22sINFOmove_joint_resampler_node-25process started with pid [9575] + 9.22sINFOmove_end_effector_resampler_node-26process started with pid [9577] + 9.22sINFOobjective_server_node_main-27process started with pid [9578] + 9.22sINFOcomponent_container_mt-28process started with pid [9580] + 9.22sINFOcomponent_container_mt-29process started with pid [9589] + 9.22sINFOexecute_objective_bridge-30process started with pid [9597] + 9.22sINFOui_teleop_bridge-31process started with pid [9598] + 9.22sINFOweb_bridge-32process started with pid [9599] + 9.22sINFOtf2_web_republisher_node-33process started with pid [9601] + 9.22sINFOweb_video_server-34process started with pid [9603] + 9.22sINFOweb_bridge_auth_proxy-35process started with pid [9604] + 9.22sINFOweb_video_auth_proxy-36process started with pid [9607] + 9.23sINFOcomponent_container_isolated-1process started with pid [9435] + 9.24sINFOstatic_transform_publisher-2process started with pid [9436] + 9.24sINFOodom_world_drift.py-3process started with pid [9437] + 9.24sINFOslip_aware_odom-4process started with pid [9438] + 9.24sINFOamcl_odom_gate-5process started with pid [9439] + 9.24sINFOodom_qos_relay.py-6process started with pid [9440] + 9.24sINFOscan_to_scan_filter_chain-7process started with pid [9441] + 9.24sINFOscan_to_scan_filter_chain-8process started with pid [9442] + 9.24sINFOfixed_lag_smoother_node-9process started with pid [9443] + 9.24sINFOros2-11process started with pid [9531] + 9.24sINFOros2-12process started with pid [9532] + 9.24sINFOros2-13process started with pid [9533] + 9.24sINFOros2-14process started with pid [9534] + 9.24sINFOros2-15process started with pid [9535] + 9.24sINFOros2-16process started with pid [9536] + 9.24sINFOros2-17process started with pid [9537] + 9.24sINFOros2-18process started with pid [9538] + 9.24sINFOros2-19process started with pid [9539] + 9.24sINFOros2-20process started with pid [9540] + 9.24sINFOros2-21process started with pid [9541] + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.33sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 9.33sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 9.33sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 9.33sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 9.33sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.33sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 9.36sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.36sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.38sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.39sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.39sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.39sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.39sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 9.40sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.40sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.40sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951929 ms (missed cycles : 2).[0m + 9.43sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.47sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 9.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.56sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 9.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.76sINFOmove_groupLoaded robot model in 0.37605 seconds[0m + 9.77sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.77sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 9.86sWARNscan_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 + 9.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 10.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 10.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 10.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.29sWARNmove_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 + 10.29sWARNmove_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 + 10.30sWARNmove_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 + 10.30sWARNmove_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 + 10.30sWARNmove_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 + 10.31sWARNmove_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 + 10.31sWARNmove_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 + 10.32sWARNmove_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 + 10.33sWARNmove_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 + 10.33sWARNmove_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 + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224934 ms (missed cycles : 3).[0m + 10.47sINFOwaypoint_manager_nodeLoaded robot model in 0.383604 seconds[0m + 10.52sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.52sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.72sINFOmove_group[2026-07-23 23:28:37.570] [moveit_pro_license] [info] + 10.72sINFOmove_group************************************************* ×6 + 10.72sINFOmove_group* MoveIt Pro License ×3 + 10.72sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.02sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 11.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 11.03sWARNwaypoint_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 + 11.05sWARNwaypoint_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 + 11.05sWARNwaypoint_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 + 11.05sWARNwaypoint_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 + 11.05sWARNwaypoint_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 + 11.05sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.06sWARNwaypoint_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 + 11.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×15 + 11.29sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 11.29sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 11.29sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 11.29sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.30sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 11.30sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 11.31sINFOmove_groupStarting planning scene monitor[0m ×3 + 11.31sINFOmove_groupListening to '/planning_scene'[0m ×3 + 11.31sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 11.31sINFOmove_groupListening to 'collision_object'[0m ×3 + 11.32sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 11.36sINFOwaypoint_manager_node[2026-07-23 23:28:38.210] [moveit_pro_license] [info] + 11.36sINFOwaypoint_manager_node************************************************* ×6 + 11.36sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 11.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839921 ms (missed cycles : 2).[0m + 11.76sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.76sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.77sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.88sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.88sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.88sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.88sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.88sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.88sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.88sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.88sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.88sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.88sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.88sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.88sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.89sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.89sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.89sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.89sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.89sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.89sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.89sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.89sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.92sWARNros2_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 + 11.95sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.95sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 12.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 12.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 12.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 12.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 12.04sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 12.04sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 12.04sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 12.05sINFOcomponent_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 + 12.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 12.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 12.13sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 12.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 12.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.20sWARNcomponent_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 + 12.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.25sINFOcomponent_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 + 12.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.35sINFOobjective_server_node[2026-07-23 23:28:39.205] [moveit_pro_license] [info] + 12.35sINFOobjective_server_node************************************************* ×8 + 12.35sINFOobjective_server_node* MoveIt Pro License ×4 + 12.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 12.37sINFOros2_control_node[2026-07-23 23:28:39.222] [info] Controller state will be published at 20 Hz. + 12.37sINFOros2_control_node[2026-07-23 23:28:39.226] [info] JointVelocityController 'on_configure' succeeded. + 12.41sINFOobjective_server_nodeLoaded robot model in 0.0208525 seconds[0m + 12.41sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 12.41sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.51sINFOcomponent_container_mtLoaded robot model in 0.31061 seconds[0m + 12.51sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 12.51sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.61sWARNobjective_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 + 12.61sWARNobjective_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 + 12.61sWARNobjective_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 + 12.61sWARNobjective_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 + 12.61sWARNobjective_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 + 12.67sINFOobjective_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 + 12.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.69sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.71sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.71sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 12.72sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.72sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 12.72sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.76sINFOros2-21process has finished cleanly [pid 9541] + 12.76sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.77sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.77sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.77sWARNcomponent_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 + 12.77sWARNcomponent_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 + 12.77sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.79sWARNcomponent_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 + 12.81sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 12.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 12.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.82sINFOros2_control_nodeconfigure successful[0m ×9 + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807944 ms (missed cycles : 2).[0m + 12.86sINFOmove_group ×12 + 12.86sINFOmove_group******************************************************** ×6 + 12.86sINFOmove_group* MoveGroup using: ×3 + 12.86sINFOmove_group* - apply_planning_scene_service ×3 + 12.86sINFOmove_group* - clear_octomap_service ×3 + 12.86sINFOmove_group* - get_group_urdf ×3 + 12.86sINFOmove_group* - load_geometry_from_file ×3 + 12.86sINFOmove_group* - get_planning_scene_service ×3 + 12.86sINFOmove_group* - kinematics_service ×3 + 12.86sINFOmove_group* - save_geometry_to_file ×3 + 12.86sINFOmove_group* - GetPlanningGroups ×3 + 12.86sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.86sINFOmove_group[0m ×3 + 12.86sINFOmove_group[92mYou can start planning now![0m ×3 + 13.04sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 13.05sINFOcomponent_container_mt[2026-07-23 23:28:39.908] [moveit_pro_license] [info] + 13.05sINFOcomponent_container_mt************************************************* ×6 + 13.05sINFOcomponent_container_mt* MoveIt Pro License ×3 + 13.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 13.19sINFOros2-16process has finished cleanly [pid 9536] + 13.30sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 13.30sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 13.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 13.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 13.45sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.51sWARNobjective_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 + 13.51sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 13.54sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 13.54sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.77sINFOros2_control_node[2026-07-23 23:28:40.619] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.77sINFOros2_control_node[2026-07-23 23:28:40.621] [info] Controller state will be published at 10 Hz. + 13.77sINFOros2_control_node[2026-07-23 23:28:40.622] [info] VelocityForceController 'on_configure' succeeded. + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448887 ms (missed cycles : 4).[0m + 14.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 14.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 14.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 14.12sINFOros2-19process has finished cleanly [pid 9539] + 14.14sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 14.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 14.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 14.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 14.15sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 14.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 14.49sINFOros2-12process has finished cleanly [pid 9532] + 14.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 14.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 14.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 14.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 14.79sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988352 ms (missed cycles : 3).[0m + 15.27sINFOros2_control_node[2026-07-23 23:28:42.123] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.27sINFOros2_control_node[2026-07-23 23:28:42.125] [info] Controller state will be published at 10 Hz. + 15.27sINFOros2_control_node[2026-07-23 23:28:42.126] [info] VelocityForceController 'on_configure' succeeded. + 15.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 15.61sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 15.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 15.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 15.64sINFOros2-18process has finished cleanly [pid 9538] + 15.67sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 15.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 15.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 15.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 15.69sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 16.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512365 ms (missed cycles : 4).[0m + 16.04sINFOros2-15process has finished cleanly [pid 9535] + 16.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 16.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 16.50sINFOros2-11process has finished cleanly [pid 9531] + 16.51sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 16.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 16.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 16.53sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.86sINFOros2-14process has finished cleanly [pid 9534] + 16.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 16.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.95sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.95sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191445 ms (missed cycles : 3).[0m + 17.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 17.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 17.33sINFOros2-13process has finished cleanly [pid 9533] + 17.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 17.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 17.65sINFOros2_control_node[2026-07-23 23:28:44.500] [info] Controller state will be published at 20 Hz. + 17.65sINFOros2_control_node[2026-07-23 23:28:44.501] [info] JointVelocityController 'on_configure' succeeded. + 18.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_osd2yy6p --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_immjr3nb --params-file /tmp/launch_params_nzw8o6df [0m + 18.02sINFOros2-20process has finished cleanly [pid 9540] + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654645 ms (missed cycles : 3).[0m + 18.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.12sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 18.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 18.49sINFOros2-17process has finished cleanly [pid 9537] + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166533 ms (missed cycles : 4).[0m + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030719 ms (missed cycles : 3).[0m + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473894 ms (missed cycles : 3).[0m + 21.93sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713129 ms (missed cycles : 4).[0m + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669342 ms (missed cycles : 3).[0m + 23.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849330.29546118 seconds. + 23.44sINFOmove_groupClearing octomap...[0m ×4 + 23.44sINFOmove_groupOctomap cleared.[0m ×4 + 23.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849330.30569053 seconds + 24.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849330.86984777 seconds. + 24.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849330.87997746 seconds + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040835 ms (missed cycles : 4).[0m + 24.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849331.42140245 seconds. + 24.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849331.57198715 seconds + 25.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849332.14171720 seconds. + 25.30sINFOobjective_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 + 25.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894418 ms (missed cycles : 3).[0m + 25.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849332.21186852 seconds + 25.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849332.75944209 seconds. + 25.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 25.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 25.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 25.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919175 ms (missed cycles : 3).[0m + 26.97sINFOobjective_server_nodePlanning for 177 path waypoints. + 27.43sINFOros2_control_nodeReceived new action goal[0m ×13 + 27.43sINFOros2_control_nodeAccepted new action goal[0m ×13 + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865598 ms (missed cycles : 3).[0m + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588948 ms (missed cycles : 5).[0m + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557648 ms (missed cycles : 4).[0m + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852241 ms (missed cycles : 2).[0m + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090889 ms (missed cycles : 5).[0m + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504585 ms (missed cycles : 5).[0m + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986591 ms (missed cycles : 3).[0m + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250004 ms (missed cycles : 4).[0m + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115211 ms (missed cycles : 3).[0m + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613958 ms (missed cycles : 4).[0m + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903704 ms (missed cycles : 4).[0m + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160608 ms (missed cycles : 4).[0m + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131534 ms (missed cycles : 3).[0m + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995451 ms (missed cycles : 3).[0m + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884455 ms (missed cycles : 2).[0m + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425482 ms (missed cycles : 3).[0m + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633778 ms (missed cycles : 3).[0m + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114515 ms (missed cycles : 3).[0m + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855761 ms (missed cycles : 2).[0m + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441436 ms (missed cycles : 5).[0m + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548869 ms (missed cycles : 6).[0m + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436153 ms (missed cycles : 3).[0m + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596837 ms (missed cycles : 2).[0m + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863169 ms (missed cycles : 3).[0m + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029050 ms (missed cycles : 4).[0m + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985494 ms (missed cycles : 2).[0m + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940999 ms (missed cycles : 3).[0m + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933702 ms (missed cycles : 3).[0m + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131910 ms (missed cycles : 5).[0m + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295134 ms (missed cycles : 3).[0m + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348517 ms (missed cycles : 4).[0m + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576124 ms (missed cycles : 4).[0m + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260736 ms (missed cycles : 2).[0m + 61.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589669 ms (missed cycles : 4).[0m + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953138 ms (missed cycles : 3).[0m + 63.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980387 ms (missed cycles : 3).[0m + 64.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181154 ms (missed cycles : 3).[0m + 65.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299401 ms (missed cycles : 2).[0m + 66.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457698 ms (missed cycles : 2).[0m + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807215 ms (missed cycles : 2).[0m + 68.73sINFOros2_control_nodeGoal reached, success![0m ×12 + 68.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849375.59295321 seconds + 69.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520955 ms (missed cycles : 2).[0m + 69.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849376.13515234 seconds. + 70.09sINFOobjective_server_nodeFound path in 0 iterations (2.114e-05 s). + 70.09sINFOobjective_server_nodePath shortcutter: [X____X] + 70.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514197 ms (missed cycles : 2).[0m + 70.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 71.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447338 ms (missed cycles : 3).[0m + 72.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049409 ms (missed cycles : 4).[0m + 72.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849379.07533765 seconds + 72.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849379.62404466 seconds. + 73.06sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 73.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998927 ms (missed cycles : 3).[0m + 74.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 74.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338330 ms (missed cycles : 4).[0m + 75.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360020 ms (missed cycles : 2).[0m + 76.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454385 ms (missed cycles : 3).[0m + 77.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996101 ms (missed cycles : 4).[0m + 78.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485059 ms (missed cycles : 4).[0m + 79.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404074 ms (missed cycles : 3).[0m + 80.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290559 ms (missed cycles : 2).[0m + 81.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884337 ms (missed cycles : 2).[0m + 81.94sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m + 82.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569232 ms (missed cycles : 3).[0m + 83.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646267 ms (missed cycles : 4).[0m + 84.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466760 ms (missed cycles : 2).[0m + 85.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282530 ms (missed cycles : 8).[0m + 86.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144194 ms (missed cycles : 2).[0m + 87.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369227 ms (missed cycles : 2).[0m + 88.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525257 ms (missed cycles : 6).[0m + 89.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960535 ms (missed cycles : 3).[0m + 90.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362134 ms (missed cycles : 3).[0m + 91.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694784 ms (missed cycles : 3).[0m + 92.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565889 ms (missed cycles : 4).[0m + 93.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810569 ms (missed cycles : 2).[0m + 95.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345880 ms (missed cycles : 4).[0m + 96.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748127 ms (missed cycles : 5).[0m + 97.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189203 ms (missed cycles : 2).[0m + 98.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019806 ms (missed cycles : 2).[0m + 99.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833396 ms (missed cycles : 2).[0m +100.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324212 ms (missed cycles : 6).[0m +101.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107899 ms (missed cycles : 3).[0m +102.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854199 ms (missed cycles : 4).[0m +102.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +103.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040821 ms (missed cycles : 3).[0m +104.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667066 ms (missed cycles : 4).[0m +105.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123488 ms (missed cycles : 3).[0m +106.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905881 ms (missed cycles : 5).[0m +107.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836043 ms (missed cycles : 2).[0m +108.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388567 ms (missed cycles : 3).[0m +109.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075875 ms (missed cycles : 5).[0m +110.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381315 ms (missed cycles : 4).[0m +111.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059611 ms (missed cycles : 2).[0m +112.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123761 ms (missed cycles : 2).[0m +113.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293432 ms (missed cycles : 7).[0m +115.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447848 ms (missed cycles : 2).[0m +116.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552617 ms (missed cycles : 5).[0m +117.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601070 ms (missed cycles : 3).[0m +118.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697246 ms (missed cycles : 2).[0m +119.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500758 ms (missed cycles : 2).[0m +120.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925640 ms (missed cycles : 2).[0m +121.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849846 ms (missed cycles : 2).[0m +122.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920136 ms (missed cycles : 3).[0m +123.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102154 ms (missed cycles : 2).[0m +124.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770596 ms (missed cycles : 2).[0m +125.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032350 ms (missed cycles : 3).[0m +126.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010007 ms (missed cycles : 5).[0m +127.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340941 ms (missed cycles : 3).[0m +128.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062449 ms (missed cycles : 6).[0m +128.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849435.35866737 seconds +129.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849435.91519761 seconds. +129.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 +129.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +129.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926068 ms (missed cycles : 2).[0m +130.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953911 ms (missed cycles : 3).[0m +131.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776891 ms (missed cycles : 4).[0m +132.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895924 ms (missed cycles : 3).[0m +133.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784849439.95711684 seconds +133.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550156 ms (missed cycles : 4).[0m +134.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784849441.51953650 seconds. +134.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708077 ms (missed cycles : 3).[0m +134.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +135.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345189 ms (missed cycles : 4).[0m +136.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +136.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902126 ms (missed cycles : 2).[0m +137.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648855 ms (missed cycles : 4).[0m +138.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271397 ms (missed cycles : 2).[0m +139.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061616 ms (missed cycles : 5).[0m +140.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315399 ms (missed cycles : 2).[0m +141.94sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +141.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973096 ms (missed cycles : 3).[0m +142.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841521 ms (missed cycles : 2).[0m +144.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989114 ms (missed cycles : 3).[0m +145.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626888 ms (missed cycles : 3).[0m +146.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076333 ms (missed cycles : 5).[0m +147.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.337330 ms (missed cycles : 4).[0m +148.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995582 ms (missed cycles : 3).[0m +149.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255343 ms (missed cycles : 2).[0m +150.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556057 ms (missed cycles : 5).[0m +151.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312889 ms (missed cycles : 5).[0m +152.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577673 ms (missed cycles : 2).[0m +153.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050372 ms (missed cycles : 2).[0m +154.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000151 ms (missed cycles : 3).[0m +155.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.783004 ms (missed cycles : 6).[0m +156.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391193 ms (missed cycles : 3).[0m +157.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664301 ms (missed cycles : 4).[0m +158.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620817 ms (missed cycles : 2).[0m +159.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769362 ms (missed cycles : 3).[0m +160.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694337 ms (missed cycles : 3).[0m +161.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.361205 ms (missed cycles : 7).[0m +162.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668139 ms (missed cycles : 4).[0m +163.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821823 ms (missed cycles : 3).[0m +164.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232660 ms (missed cycles : 4).[0m +164.74sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849471.58968306 seconds +165.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849472.14288163 seconds. +165.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993201 ms (missed cycles : 4).[0m +166.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +166.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262897 ms (missed cycles : 3).[0m +167.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279340 ms (missed cycles : 2).[0m +168.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774400 ms (missed cycles : 2).[0m +169.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351465 ms (missed cycles : 4).[0m +170.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335996 ms (missed cycles : 2).[0m +171.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511973 ms (missed cycles : 2).[0m +172.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979562 ms (missed cycles : 3).[0m +173.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869457 ms (missed cycles : 5).[0m +175.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793274 ms (missed cycles : 2).[0m +176.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717612 ms (missed cycles : 5).[0m +177.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853981 ms (missed cycles : 3).[0m +178.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690650 ms (missed cycles : 4).[0m +179.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254259 ms (missed cycles : 2).[0m +180.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941423 ms (missed cycles : 5).[0m +181.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865953 ms (missed cycles : 3).[0m +182.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473957 ms (missed cycles : 2).[0m +183.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016505 ms (missed cycles : 2).[0m +184.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978024 ms (missed cycles : 3).[0m +185.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226831 ms (missed cycles : 2).[0m +186.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043459 ms (missed cycles : 4).[0m +187.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581108 ms (missed cycles : 3).[0m +188.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984497 ms (missed cycles : 3).[0m +189.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012193 ms (missed cycles : 5).[0m +190.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003697 ms (missed cycles : 2).[0m +191.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941284 ms (missed cycles : 3).[0m +192.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366570 ms (missed cycles : 3).[0m +193.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544799 ms (missed cycles : 3).[0m +194.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.662036 ms (missed cycles : 7).[0m +195.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731320 ms (missed cycles : 2).[0m +196.34sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +196.35sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +196.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784849503.20310378 seconds +196.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698340 ms (missed cycles : 2).[0m +196.99sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784849503.84675789 seconds. +197.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×3 +197.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084086 ms (missed cycles : 5).[0m +199.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309706 ms (missed cycles : 5).[0m +200.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600226 ms (missed cycles : 6).[0m +201.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337906 ms (missed cycles : 5).[0m +201.94sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m +202.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502610 ms (missed cycles : 3).[0m +203.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513229 ms (missed cycles : 5).[0m +204.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285806 ms (missed cycles : 5).[0m +205.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408942 ms (missed cycles : 2).[0m +206.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065331 ms (missed cycles : 3).[0m +207.20sINFOros2_control_nodeGot request to cancel goal[0m +207.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +207.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784849514.07288671 seconds +207.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323370 ms (missed cycles : 5).[0m +207.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784849514.61824155 seconds. +208.07sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 +208.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.558621 ms (missed cycles : 6).[0m +209.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132586 ms (missed cycles : 2).[0m +210.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840994 ms (missed cycles : 5).[0m +211.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010955 ms (missed cycles : 4).[0m +212.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019760 ms (missed cycles : 2).[0m +213.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495255 ms (missed cycles : 5).[0m +214.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525138 ms (missed cycles : 3).[0m +216.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828220 ms (missed cycles : 5).[0m +217.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044531 ms (missed cycles : 4).[0m +218.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599646 ms (missed cycles : 3).[0m +219.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684149 ms (missed cycles : 4).[0m +220.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680886 ms (missed cycles : 4).[0m +221.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837763 ms (missed cycles : 5).[0m +222.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892537 ms (missed cycles : 6).[0m +223.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474888 ms (missed cycles : 5).[0m +224.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448969 ms (missed cycles : 2).[0m +225.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987091 ms (missed cycles : 3).[0m +226.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638987 ms (missed cycles : 4).[0m +227.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491120 ms (missed cycles : 2).[0m +228.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601795 ms (missed cycles : 3).[0m +229.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012696 ms (missed cycles : 2).[0m +230.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614427 ms (missed cycles : 3).[0m +231.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968194 ms (missed cycles : 2).[0m +233.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321291 ms (missed cycles : 2).[0m +234.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569361 ms (missed cycles : 4).[0m +235.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336445 ms (missed cycles : 5).[0m +236.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050102 ms (missed cycles : 2).[0m +236.57sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +236.58sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +236.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849543.43841076 seconds +237.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849544.04523611 seconds. +237.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181513 ms (missed cycles : 3).[0m +238.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741290 ms (missed cycles : 4).[0m +239.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069196 ms (missed cycles : 4).[0m +240.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709288 ms (missed cycles : 5).[0m +241.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686682 ms (missed cycles : 2).[0m +242.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217089 ms (missed cycles : 4).[0m +243.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407202 ms (missed cycles : 3).[0m +244.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375805 ms (missed cycles : 5).[0m +245.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688354 ms (missed cycles : 5).[0m +246.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406665 ms (missed cycles : 5).[0m +247.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094512 ms (missed cycles : 4).[0m +248.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523581 ms (missed cycles : 6).[0m +249.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450862 ms (missed cycles : 3).[0m +250.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161788 ms (missed cycles : 2).[0m +251.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688717 ms (missed cycles : 4).[0m +252.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186068 ms (missed cycles : 2).[0m +253.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.411568 ms (missed cycles : 6).[0m +254.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947111 ms (missed cycles : 3).[0m +255.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002891 ms (missed cycles : 3).[0m +256.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599980 ms (missed cycles : 3).[0m +257.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468286 ms (missed cycles : 5).[0m +258.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979278 ms (missed cycles : 2).[0m +260.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.246932 ms (missed cycles : 8).[0m +261.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016861 ms (missed cycles : 3).[0m +262.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938364 ms (missed cycles : 3).[0m +263.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847419 ms (missed cycles : 5).[0m +264.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023989 ms (missed cycles : 3).[0m +265.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832424 ms (missed cycles : 2).[0m +266.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428332 ms (missed cycles : 4).[0m +267.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630276 ms (missed cycles : 3).[0m +268.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811956 ms (missed cycles : 2).[0m +269.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793503 ms (missed cycles : 2).[0m +270.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505944 ms (missed cycles : 4).[0m +271.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470171 ms (missed cycles : 4).[0m +272.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047440 ms (missed cycles : 2).[0m +273.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834260 ms (missed cycles : 2).[0m +274.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025125 ms (missed cycles : 2).[0m +275.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008606 ms (missed cycles : 4).[0m +276.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610211 ms (missed cycles : 2).[0m +277.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961082 ms (missed cycles : 3).[0m +278.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456652 ms (missed cycles : 3).[0m +279.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028896 ms (missed cycles : 5).[0m +280.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405682 ms (missed cycles : 3).[0m +281.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397191 ms (missed cycles : 4).[0m +282.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626309 ms (missed cycles : 4).[0m +283.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.954424 ms (missed cycles : 5).[0m +284.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941634 ms (missed cycles : 5).[0m +286.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525979 ms (missed cycles : 4).[0m +287.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934567 ms (missed cycles : 4).[0m +288.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415475 ms (missed cycles : 4).[0m +289.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739734 ms (missed cycles : 2).[0m +290.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.496184 ms (missed cycles : 7).[0m +291.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797709 ms (missed cycles : 4).[0m +291.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849598.52537942 seconds +292.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849599.07207108 seconds. +292.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463408 ms (missed cycles : 5).[0m +293.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075723 ms (missed cycles : 3).[0m +294.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581450 ms (missed cycles : 3).[0m +295.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493424 ms (missed cycles : 2).[0m +296.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302799 ms (missed cycles : 2).[0m +296.68sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). +296.70sINFOobjective_server_nodePath shortcutter: [X__________________X] +296.73sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). +296.75sINFOobjective_server_nodePath shortcutter: [X____________________X] +296.78sINFOobjective_server_nodeFound path in 0 iterations (1.06e-06 s). +296.81sINFOobjective_server_nodePath shortcutter: [X_________________________X] +296.85sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +296.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +296.99sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +297.20sINFOobjective_server_nodeFound path in 69 iterations (0.0398674 s). +297.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +297.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157532 ms (missed cycles : 3).[0m +297.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +297.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +298.18sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +298.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978513 ms (missed cycles : 5).[0m +299.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049904 ms (missed cycles : 4).[0m +300.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354957 ms (missed cycles : 3).[0m +301.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560733 ms (missed cycles : 5).[0m +302.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.480581 ms (missed cycles : 6).[0m +303.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283062 ms (missed cycles : 3).[0m +304.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849611.02355075 seconds +304.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849611.61254525 seconds. +304.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330175 ms (missed cycles : 3).[0m +305.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849612.03269219 seconds +305.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849612.57182813 seconds. +305.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069939 ms (missed cycles : 3).[0m +306.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849612.95198894 seconds +306.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +306.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766070 ms (missed cycles : 4).[0m +308.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189492 ms (missed cycles : 3).[0m +309.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326364 ms (missed cycles : 2).[0m +310.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765573 ms (missed cycles : 3).[0m +311.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209089 ms (missed cycles : 5).[0m +311.83sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.83sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.84sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.84sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.84sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.85sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.85sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.85sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.85sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.86sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +311.87sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.88sERRORweb_video_auth_proxy-36process has died [pid 9607, 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']. +311.88sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.88sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.89sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.89sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +311.91sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.91sERRORweb_bridge_auth_proxy-35process has died [pid 9604, 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']. +311.91sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.91sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.92sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.92sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.92sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.93sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.93sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.93sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.94sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.94sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.94sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +311.94sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +311.96sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +311.98sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +312.00sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +312.02sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +312.04sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +312.06sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +312.09sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +312.11sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +312.13sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +312.15sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +312.18sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +312.19sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +312.20sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +312.23sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +312.24sINFOweb_video_server-34process has finished cleanly [pid 9603] +312.24sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9601] +312.26sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +312.26sERRORmove_group-22process has died [pid 9542, 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_lfujydoc --params-file /tmp/launch_params_tuwrinv_ --params-file /tmp/launch_params_7q4u7t_5 --params-file /tmp/launch_params_1d0q9_3c --params-file /tmp/launch_params_atb5o84a --params-file /tmp/launch_params_athjrl2j']. +312.28sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +312.30sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +312.31sERRORui_teleop_bridge-31process has died [pid 9598, 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_uq1v_y2i']. +312.32sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +312.34sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +312.37sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +312.39sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +312.41sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +312.41sERRORobjective_server_node_main-27process has died [pid 9578, 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_e93_9jdd --params-file /tmp/launch_params_lpnm9gvm --params-file /tmp/launch_params_pxhkpp2z --params-file /tmp/launch_params_uzo6y0iy --params-file /tmp/launch_params_n30_1jxb --params-file /tmp/launch_params_izjkun3o --params-file /tmp/launch_params_jwskdzo8 --params-file /tmp/launch_params_33xhdx9k --params-file /tmp/launch_params_r3n_dwc5']. +312.43sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +312.43sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +312.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +312.43sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +312.43sERRORui_teleop_bridgeTraceback (most recent call last): +312.43sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +312.43sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +312.43sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +312.43sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main +312.43sINFOui_teleop_bridgerclpy.shutdown() +312.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +312.43sINFOui_teleop_bridge_shutdown(context=context) +312.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +312.43sINFOui_teleop_bridgecontext.shutdown() +312.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +312.43sINFOui_teleop_bridgeself.__context.shutdown() +312.43sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +312.43sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +312.43sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 23:33:38.940] signal_handler(SIGINT/SIGTERM)[0m +312.44sINFOcomponent_container_mtStopping planning scene monitor[0m +312.44sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +312.44sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +312.44sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +312.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450599 ms (missed cycles : 2).[0m +312.44sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +312.44sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +312.44sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +312.44sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +312.44sERRORmove_groupwhat(): context cannot be slept with because it's invalid +312.44sERRORmove_groupStack trace (most recent call last) in thread 10174: +312.44sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +312.44sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39b26fea63, in __clone +312.44sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39b2671aa3, in +312.44sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39b2903db3, in +312.44sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f39b3046ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +312.44sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f39b2c764d0, in rclcpp::Rate::sleep() +312.44sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f39b2bc9a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +312.44sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f39b2b8ea71, in +312.44sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39b28d2390, in __cxa_throw +312.44sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39b28bca54, in std::terminate() +312.44sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39b28d20d9, in +312.44sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f39b28bcff4, in +312.44sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39b25fd8fe, in abort +312.44sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39b261a27d, in raise +312.44sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f39b2673b2c, in pthread_kill +312.44sERRORmove_groupAborted (Signal sent by tkill() 9542 0) +312.45sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +312.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +312.45sINFOros2_control_nodeShutdown request received....[0m +312.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +312.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +312.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +312.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +312.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +312.45sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +312.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +312.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +312.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +312.45sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +312.45sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +312.45sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +312.45sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +312.45sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +312.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +312.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +312.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +312.45sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +312.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +312.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +312.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +312.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +312.45sINFOros2_control_nodeShutting down the controller manager.[0m +312.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +312.45sINFOobjective_server_node[2026-07-23 23:33:39.111] [moveit_pro_license] [info] +312.45sINFOobjective_server_node* Application has successfully terminated +312.45sERRORobjective_server_nodeStack trace (most recent call last): +312.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +312.45sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +312.45sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a03639b6a4, in _start +312.45sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9c372cb28a, in __libc_start_main +312.45sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9c372cb1d0, in +312.45sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9c372e8bbd, in exit +312.45sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9c372e8a75, in +312.45sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9c377b78f5, in spdlog::details::registry::~registry() +312.45sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a03639bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +312.45sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a0363a2315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +312.46sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a0363a15a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +312.46sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a03639db7b, in spdlog_ros::RosSink::~RosSink() +312.46sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a03639bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +312.46sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e6d454, in rclcpp::Node::~Node() +312.46sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e28515, in +312.46sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e6bd20, in +312.46sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e6bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +312.46sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e285d9, in +312.46sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9c37e2d161, in rclcpp::CallbackGroup::~CallbackGroup() +312.46sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9bef7ef090]) +312.46sERRORodom_qos_relay.pyTraceback (most recent call last): +312.46sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +312.46sINFOodom_qos_relay.pymain() +312.46sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +312.46sINFOodom_qos_relay.pyrclpy.spin(node) +312.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +312.46sINFOodom_qos_relay.pyexecutor.spin_once() +312.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +312.46sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +312.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +312.46sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +312.46sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +312.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +312.46sINFOodom_qos_relay.pyreturn next(self._cb_iter) +312.46sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +312.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +312.46sINFOodom_qos_relay.pyraise ExternalShutdownException() +312.46sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +312.46sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +312.46sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +312.46sINFOros2_control_nodeAsync messages lost 0[0m ×2 +312.46sINFOros2_control_nodepublish_async_failures_ 5[0m +312.46sINFOros2_control_nodepublish_async_failures_ 1[0m +312.46sERRORodom_world_drift.pyTraceback (most recent call last): +312.46sINFOodom_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> +312.46sINFOodom_world_drift.pymain() +312.46sINFOodom_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 +312.46sINFOodom_world_drift.pyrclpy.spin(node) +312.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +312.46sINFOodom_world_drift.pyexecutor.spin_once() +312.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +312.46sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +312.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +312.46sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +312.46sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +312.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +312.46sINFOodom_world_drift.pyreturn next(self._cb_iter) +312.46sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +312.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +312.46sINFOodom_world_drift.pyraise ExternalShutdownException() +312.46sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +312.46sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +312.47sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +312.85sERRORcomponent_container_isolated-1process has died [pid 9435, 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_4ee5zp6z --params-file /tmp/launch_params_ml9ucvmo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +313.12sINFOexecute_objective_bridge-30process has finished cleanly [pid 9597] +313.16sINFOcomponent_container_mt-29process has finished cleanly [pid 9589] +313.16sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9577] +313.18sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9575] +313.25sINFOparameter_manager_node-23process has finished cleanly [pid 9543] +313.25sINFOwaypoint_manager_node-24process has finished cleanly [pid 9559] +313.33sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9442] +313.34sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9441] +313.38sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9443] +313.41sINFOslip_aware_odom-4process has finished cleanly [pid 9438] +313.42sERRORodom_qos_relay.py-6process has died [pid 9440, 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']. +313.45sINFOstatic_transform_publisher-2process has finished cleanly [pid 9436] +314.29sINFOcomponent_container_mt-28process has finished cleanly [pid 9580] +314.39sINFOamcl_odom_gate-5process has finished cleanly [pid 9439] +314.47sERRORodom_world_drift.py-3process has died [pid 9437, 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_9fic2hq1']. +314.79sINFOweb_bridge-32process has finished cleanly [pid 9599] +314.79sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +314.93sINFOros2_control_node-10process has finished cleanly [pid 9530] +321.92sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-23-23-33-46-241022-9c39ea5746b0-13483 ×2 +330.76sINFOstatic_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' +330.84sINFOstate_estimatorReceived a set_pose request (stamp: 1784849637692336478, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +330.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +330.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +330.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +330.88sINFOcontroller_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. +330.93sINFOcontroller_serverCreating controller server +330.94sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +330.95sINFOlocal_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. +330.96sINFOlocal_costmap.local_costmapCreating Costmap +330.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +330.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +330.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +331.00sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +331.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +331.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +331.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +331.04sINFOsmoother_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. +331.07sINFOsmoother_serverCreating smoother server +331.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +331.09sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +331.10sINFOros2_control_node-10process started with pid [13628] ×2 +331.10sINFOmove_group-22process started with pid [13640] ×2 +331.10sINFOparameter_manager_node-23process started with pid [13641] ×2 +331.10sINFOwaypoint_manager_node-24process started with pid [13659] ×2 +331.10sINFOmove_joint_resampler_node-25process started with pid [13660] ×2 +331.10sINFOmove_end_effector_resampler_node-26process started with pid [13661] ×2 +331.10sINFOobjective_server_node_main-27process started with pid [13664] ×2 +331.10sINFOcomponent_container_mt-28process started with pid [13665] ×2 +331.10sINFOcomponent_container_mt-29process started with pid [13666] ×2 +331.10sINFOexecute_objective_bridge-30process started with pid [13667] ×2 +331.10sINFOui_teleop_bridge-31process started with pid [13668] ×2 +331.10sINFOweb_bridge-32process started with pid [13669] ×2 +331.10sINFOtf2_web_republisher_node-33process started with pid [13685] ×2 +331.10sINFOweb_video_server-34process started with pid [13686] ×2 +331.10sINFOweb_bridge_auth_proxy-35process started with pid [13687] ×2 +331.10sINFOweb_video_auth_proxy-36process started with pid [13688] ×2 +331.11sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +331.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +331.11sINFOcontroller_managerupdate rate is 600 Hz +331.11sINFOcontroller_managerOverruns handling is : enabled +331.11sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +331.11sWARNcontroller_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. +331.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +331.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +331.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +331.14sINFOcomponent_container_isolated-1process started with pid [13533] ×2 +331.14sINFOstatic_transform_publisher-2process started with pid [13534] ×2 +331.14sINFOodom_world_drift.py-3process started with pid [13535] ×2 +331.14sINFOslip_aware_odom-4process started with pid [13536] ×2 +331.14sINFOamcl_odom_gate-5process started with pid [13537] ×2 +331.14sINFOodom_qos_relay.py-6process started with pid [13538] ×2 +331.14sINFOscan_to_scan_filter_chain-7process started with pid [13539] ×2 +331.14sINFOscan_to_scan_filter_chain-8process started with pid [13540] ×2 +331.14sINFOfixed_lag_smoother_node-9process started with pid [13541] ×2 +331.14sINFOros2-11process started with pid [13629] ×2 +331.14sINFOros2-12process started with pid [13630] ×2 +331.14sINFOros2-13process started with pid [13631] ×2 +331.14sINFOros2-14process started with pid [13632] ×2 +331.14sINFOros2-15process started with pid [13633] ×2 +331.14sINFOros2-16process started with pid [13634] ×2 +331.14sINFOros2-17process started with pid [13635] ×2 +331.14sINFOros2-18process started with pid [13636] ×2 +331.14sINFOros2-19process started with pid [13637] ×2 +331.14sINFOros2-20process started with pid [13638] ×2 +331.14sINFOros2-21process started with pid [13639] ×2 +331.19sINFOmap_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. +331.19sINFOmap_serverCreating +331.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +331.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +331.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +331.21sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +331.21sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +331.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +331.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +331.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +331.27sINFOplanner_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. +331.31sINFOplanner_serverCreating +331.35sINFOrobot_state_publisherRobot initialized +331.37sINFOcontroller_managerReceived robot description from topic. +331.37sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +331.38sINFOglobal_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. +331.38sINFOglobal_costmap.global_costmapCreating Costmap +331.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +331.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +331.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +331.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +331.43sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +331.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +331.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +331.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +331.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +331.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +331.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +331.56sINFObehavior_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. +331.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +331.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +331.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +331.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901264 ms (missed cycles : 2). +331.65sINFOlifecycle_manager_localizationCreating +331.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901264 ms (missed cycles : 2).[0m ×2 +331.68sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +331.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +331.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +331.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +331.71sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +331.71sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +331.72sINFOmap_serverConfiguring +331.76sINFObt_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. +331.77sWARNlaser_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. +331.77sWARNlaser_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. +331.80sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +331.80sINFOamclConfiguring +331.80sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +331.80sINFObt_navigatorCreating +331.80sINFOmap_serverActivating +331.80sINFOmap_serverCreating bond (map_server) to lifecycle manager. +331.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +331.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +331.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +331.83sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.611109 seconds +331.83sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +331.83sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +331.83sINFOmove_groupLoaded robot model in 0.611109 seconds[0m ×2 +331.85sINFOwaypoint_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. +331.86sINFOwaypoint_followerCreating +331.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +331.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +331.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +331.92sINFOlifecycle_manager_localizationServer map_server connected with bond. +331.92sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +331.92sINFOamclActivating +331.92sINFOamclSubscribed to initial_pose_topic: /initialpose +331.93sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +331.93sINFOvelocity_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. +331.96sINFOamclSubscribed to map_topic: /map +331.96sINFOamclSubscribed to scan_topic: /scan_merged +331.96sINFOamclCreated reinitialize_global_localization service +331.96sINFOamclCreated request_nomotion_update service +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +331.97sINFOamclA new map was received +331.97sINFOamclInitializing particle filter instance +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +331.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +331.97sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +331.98sINFOlifecycle_manager_navigationCreating +331.99sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +332.02sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +332.02sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +332.02sINFOcontroller_serverConfiguring controller interface +332.02sINFOcontroller_servergetting progress checker plugins.. +332.02sINFOcontroller_servergetting goal checker plugins.. +332.02sINFOcontroller_serverController frequency set to 20.0000Hz +332.02sINFOlocal_costmap.local_costmapConfiguring +332.02sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +332.04sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +332.08sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +332.08sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +332.08sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +332.11sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +332.11sINFOcontroller_serverController Server has progress_checker progress checkers available. +332.12sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +332.12sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +332.12sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +332.16sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +332.17sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +332.17sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +332.18sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +332.18sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +332.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +332.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +332.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +332.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +332.18sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +332.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +332.18sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +332.18sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +332.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +332.18sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +332.18sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +332.18sINFOcontroller_serverOptimizer reset +332.21sINFOcontroller_serverController Server has FollowPath controllers available. +332.23sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +332.23sINFOsmoother_serverConfiguring smoother server +332.26sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +332.27sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +332.28sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +332.28sINFOplanner_serverConfiguring +332.28sINFOglobal_costmap.global_costmapConfiguring +332.29sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +332.30sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +332.31sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +332.31sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +332.31sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +332.31sINFOamclParticle filter initialization completed +332.31sINFOamclInitializing particles from estimated pose and covariance +332.32sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +332.32sINFOamclThe bond connection to the lifecycle manager is now fully formed +332.32sINFOlifecycle_manager_localizationServer amcl connected with bond. +332.32sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +332.32sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +332.33sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +332.33sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +332.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +332.37sFATALplanner_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 +332.37sINFOplanner_serverCleaning up +332.37sINFOglobal_costmap.global_costmapCleaning up +332.37sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +332.49sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +332.49sWARNmove_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. +332.50sWARNmove_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. +332.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +332.64sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +332.64sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +332.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252021 ms (missed cycles : 7). +332.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252021 ms (missed cycles : 7).[0m ×2 +332.85sINFOwaypoint_manager_nodeLoaded robot model in 0.470373 seconds[0m ×2 +332.96sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +332.97sINFOmove_group[2026-07-23 23:33:59.820] [moveit_pro_license] [info] ×2 +333.21sWARNwaypoint_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. +333.21sWARNwaypoint_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. +333.22sWARNwaypoint_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. +333.22sWARNwaypoint_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. +333.22sWARNwaypoint_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. +333.22sWARNwaypoint_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. +333.23sWARNwaypoint_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. +333.23sWARNwaypoint_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. +333.23sWARNwaypoint_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. +333.23sWARNwaypoint_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. +333.24sWARNwaypoint_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. +333.25sWARNwaypoint_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. +333.25sWARNwaypoint_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. +333.25sWARNwaypoint_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. +333.25sWARNwaypoint_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. +333.25sWARNwaypoint_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. +333.26sWARNwaypoint_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. +333.26sWARNwaypoint_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. +333.26sWARNwaypoint_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. +333.26sWARNwaypoint_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. +333.28sWARNwaypoint_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. +333.28sWARNwaypoint_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. +333.28sWARNwaypoint_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. +333.28sWARNwaypoint_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. +333.28sWARNwaypoint_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. +333.29sWARNwaypoint_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. +333.29sWARNwaypoint_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. +333.29sWARNwaypoint_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. +333.39sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +333.39sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +333.39sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +333.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +333.39sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +333.39sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +333.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +333.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +333.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +333.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +333.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +333.53sINFOwaypoint_manager_node[2026-07-23 23:34:00.383] [moveit_pro_license] [info] ×2 +333.62sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +333.62sINFOcontroller_managerActivating component 'ur_mujoco_control'. +333.62sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +333.62sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +333.67sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +333.67sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +333.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +333.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +333.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +333.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +333.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871809 ms (missed cycles : 2). +333.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871809 ms (missed cycles : 2).[0m ×2 +333.78sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +333.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +333.79sINFOforce_torque_sensor_broadcasterconfigure successful +333.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +333.79sINFOcontroller_managerSuccessfully switched controllers! ×8 +333.80sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +333.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +333.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +333.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +334.10sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +334.10sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +334.12sINFOros2-11process has finished cleanly [pid 13629] ×2 +334.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +334.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +334.17sINFOobjective_server_node[2026-07-23 23:34:01.025] [moveit_pro_license] [info] ×2 +334.22sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +334.22sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +334.24sINFOobjective_server_nodeLoaded robot model in 0.0259361 seconds[0m ×2 +334.28sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +334.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +334.33sINFOcomponent_container_mtLoaded robot model in 0.177366 seconds[0m ×2 +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +334.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +334.34sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +334.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +334.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +334.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +334.37sINFOstreaming_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) +334.38sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +334.57sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.57sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +334.57sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.57sWARNobjective_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. +334.58sWARNobjective_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. +334.58sWARNobjective_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. +334.61sINFOstreaming_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) +334.66sINFOros2_control_node[2026-07-23 23:34:01.509] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +334.67sINFOros2_control_node[2026-07-23 23:34:01.522] [info] Controller state will be published at 10 Hz. ×2 +334.67sINFOros2_control_node[2026-07-23 23:34:01.525] [info] VelocityForceController 'on_configure' succeeded. ×2 +334.69sWARNplanning_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. +334.69sWARNplanning_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. +334.69sWARNplanning_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. +334.69sWARNplanning_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. +334.69sWARNplanning_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. +334.69sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.70sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.71sWARNplanning_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. +334.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902354 ms (missed cycles : 2). +334.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902354 ms (missed cycles : 2).[0m ×2 +334.83sINFOmove_groupMoveGroup debug mode is ON +334.87sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784849640.608 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +334.89sINFOcomponent_container_mt[2026-07-23 23:34:01.746] [moveit_pro_license] [info] ×2 +334.94sINFOmove_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
********************************************************
+335.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +335.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +335.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +335.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +335.05sINFOros2-19process has finished cleanly [pid 13637] ×2 +335.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +335.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +335.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +335.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +335.17sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +335.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +335.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +335.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +335.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +335.45sINFOros2-12process has finished cleanly [pid 13630] ×2 +335.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +335.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +335.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +335.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +335.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +335.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +335.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +335.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.429ms +335.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291504 ms (missed cycles : 2). +335.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291504 ms (missed cycles : 2).[0m ×2 +335.82sINFOros2-13process has finished cleanly [pid 13631] ×2 +335.84sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +336.09sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +336.09sINFOcontroller_managerLoading controller 'platform_velocity_controller' +336.10sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +336.10sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +336.12sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +336.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +336.12sINFOplatform_velocity_controllerconfigure successful +336.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +336.14sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +336.47sINFOros2-14process has finished cleanly [pid 13632] ×2 +336.49sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +336.49sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +336.49sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +336.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +336.56sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +336.58sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +336.59sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +336.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938311 ms (missed cycles : 3). +336.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938311 ms (missed cycles : 3).[0m ×2 +336.86sWARNstate_estimatorOptimization exceeded the configured duration by 15960297ns +336.87sINFOros2_control_node[2026-07-23 23:34:03.728] [info] Controller state will be published at 20 Hz. ×2 +336.88sINFOros2_control_node[2026-07-23 23:34:03.729] [info] JointVelocityController 'on_configure' succeeded. ×2 +337.26sINFOros2-21process has finished cleanly [pid 13639] ×2 +337.26sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +337.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +337.52sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +337.52sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +337.52sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +337.54sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +337.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +337.55sINFOplatform_velocity_controller_nav2configure successful +337.85sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +337.85sINFOcontroller_managerLoading controller 'vacuum_gripper' +337.86sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +337.86sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +337.88sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +337.90sINFOros2-16process has finished cleanly [pid 13634] ×2 +337.91sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +337.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +337.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +337.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +337.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149018 ms (missed cycles : 4). +337.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149018 ms (missed cycles : 4).[0m ×2 +337.94sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +338.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +338.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' +338.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +338.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +338.28sINFOros2-15process has finished cleanly [pid 13633] ×2 +338.35sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +338.35sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +338.61sINFOros2_control_node[2026-07-23 23:34:05.460] [info] Controller state will be published at 20 Hz. ×2 +338.61sINFOros2_control_node[2026-07-23 23:34:05.462] [info] JointVelocityController 'on_configure' succeeded. ×2 +338.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541013 ms (missed cycles : 4). +338.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541013 ms (missed cycles : 4).[0m ×2 +339.00sINFOros2-20process has finished cleanly [pid 13638] ×2 +339.00sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +339.26sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +339.26sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +339.26sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +339.26sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +339.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +339.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +339.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +339.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +339.36sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +339.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +339.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +339.74sINFOros2-17process has finished cleanly [pid 13635] ×2 +339.76sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +339.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +339.76sINFOcontroller_managerLoading controller 'velocity_force_controller' +339.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h +339.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54qena_t --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_32atgc0m --params-file /tmp/launch_params_yecc1f0h [0m ×2 +339.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +339.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +339.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048735 ms (missed cycles : 5). +339.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048735 ms (missed cycles : 5).[0m ×2 +340.08sINFOros2_control_node[2026-07-23 23:34:06.936] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +340.08sINFOros2_control_node[2026-07-23 23:34:06.939] [info] Controller state will be published at 10 Hz. ×2 +340.09sINFOros2_control_node[2026-07-23 23:34:06.939] [info] VelocityForceController 'on_configure' succeeded. ×2 +340.44sINFOros2-18process has finished cleanly [pid 13636] ×2 +341.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312767 ms (missed cycles : 5). +341.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312767 ms (missed cycles : 5).[0m ×2 +342.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). +342.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 +343.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). +343.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 +343.67sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +344.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). +344.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 +345.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). +345.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 +345.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 +345.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +345.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +345.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 +345.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 +345.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 +346.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). +346.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 +346.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 +346.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 +347.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 +347.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +347.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +347.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +347.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +347.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +347.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +347.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 +347.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). +347.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 +347.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 +347.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +347.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +347.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.15sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012936 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968711 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028198 ms (missed cycles : 4).[0m ×2 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231147 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899574 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849652.09332275 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849652.10353947 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849652.65198779 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849652.66211677 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901417 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849653.20415306 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849653.35477018 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849653.92919469 seconds. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849653.97933650 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803290 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849654.52594662 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNstate_estimatorOptimization exceeded the configured duration by 9864224ns + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602760 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533083 ms (missed cycles : 3).[0m ×2 | ||||