69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.3s
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 | 33.9s | 6 errors · 121 warnings · 209 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3). + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909494.72484827 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.051ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.288ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909495.29342270 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.186ms + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.844ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.153ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.944ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.305ms + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.809ms + 5.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.325ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.842ms + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 6.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.888ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 7.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.308ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380969 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380969 ms (missed cycles : 3).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.850ms + 7.50sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 4.356ms + 8.10sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.976ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833945 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833945 ms (missed cycles : 5).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.566ms + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.974ms + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653823 ms (missed cycles : 6). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653823 ms (missed cycles : 6).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586954 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586954 ms (missed cycles : 3).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.422ms + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168348 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168348 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091667 ms (missed cycles : 4). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091667 ms (missed cycles : 4).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209149 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209149 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950588 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950588 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.494ms + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161928 ms (missed cycles : 4). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161928 ms (missed cycles : 4).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.408ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552594 ms (missed cycles : 4). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552594 ms (missed cycles : 4).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758084 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758084 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380251 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380251 ms (missed cycles : 3).[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192532 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192532 ms (missed cycles : 2).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512237 ms (missed cycles : 4). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512237 ms (missed cycles : 4).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332453 ms (missed cycles : 5). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332453 ms (missed cycles : 5).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.356ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661139 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661139 ms (missed cycles : 3).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.463ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805460 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805460 ms (missed cycles : 2).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.503ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.596ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854863 ms (missed cycles : 2). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854863 ms (missed cycles : 2).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.690ms + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976439 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976439 ms (missed cycles : 3).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.853ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.511ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010714 ms (missed cycles : 2). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010714 ms (missed cycles : 2).[0m ×2 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.260ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803615 ms (missed cycles : 5). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803615 ms (missed cycles : 5).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.072ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.010ms + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717391 ms (missed cycles : 3). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717391 ms (missed cycles : 3).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276832 ms (missed cycles : 5). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276832 ms (missed cycles : 5).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406473 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406473 ms (missed cycles : 3).[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369344 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369344 ms (missed cycles : 2).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353684 ms (missed cycles : 3). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353684 ms (missed cycles : 3).[0m ×2 + 33.47sWARNstate_estimatorOptimization exceeded the configured duration by 59486759ns + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992939 ms (missed cycles : 3). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992939 ms (missed cycles : 3).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796430 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796430 ms (missed cycles : 2).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875068 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875068 ms (missed cycles : 2).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678434 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678434 ms (missed cycles : 2).[0m ×2 + 37.74sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 37.74sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 37.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909528.61368871 seconds ×3 + 38.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.363ms + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.283ms + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962883 ms (missed cycles : 4). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962883 ms (missed cycles : 4).[0m ×2 + 38.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.873ms + 38.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909529.29078698 seconds. ×3 + 38.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.580ms + 38.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.442ms + 38.78sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 38.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.514ms + 39.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.614ms + 39.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.801ms + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360477 ms (missed cycles : 3). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360477 ms (missed cycles : 3).[0m ×2 + 39.36sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.133ms + 39.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.309ms + 39.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.258ms + 39.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.637ms + 40.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.129ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377385 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377385 ms (missed cycles : 3).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.242ms + 40.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.927ms + 40.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.404ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.8s | 9 errors · 105 warnings · 211 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390399 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390399 ms (missed cycles : 3).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685439 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685439 ms (missed cycles : 3).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144466 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144466 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 3.75sINFOjoint_trajectory_controllerGot request to cancel goal + 3.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.75sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909539.47113609 seconds ×3 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981600 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981600 ms (missed cycles : 3).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909540.03013539 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms ×2 + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426573 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426573 ms (missed cycles : 6).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599333 ms (missed cycles : 6). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599333 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 6.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227139 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227139 ms (missed cycles : 2).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms ×2 + 7.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376847 ms (missed cycles : 6). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376847 ms (missed cycles : 6).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394458 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394458 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845730 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845730 ms (missed cycles : 2).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824040 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824040 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms ×2 + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330150 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330150 ms (missed cycles : 5).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms ×2 + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720312 ms (missed cycles : 5). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720312 ms (missed cycles : 5).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073875 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073875 ms (missed cycles : 2).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768543 ms (missed cycles : 4). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768543 ms (missed cycles : 4).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442339 ms (missed cycles : 4). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442339 ms (missed cycles : 4).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms ×3 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367979 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367979 ms (missed cycles : 3).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307505 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307505 ms (missed cycles : 3).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710054 ms (missed cycles : 5). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710054 ms (missed cycles : 5).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915369 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915369 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778741 ms (missed cycles : 5). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778741 ms (missed cycles : 5).[0m ×2 + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580164 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580164 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320990 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320990 ms (missed cycles : 3).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672165 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672165 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.939ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318143 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318143 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414632 ms (missed cycles : 3). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414632 ms (missed cycles : 3).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.945ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.801ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399582 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399582 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061903 ms (missed cycles : 4). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061903 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430384 ms (missed cycles : 6). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430384 ms (missed cycles : 6).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 33.32sINFOjoint_trajectory_controllerGoal reached, success! + 33.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.56sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.57sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 33.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 34.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 34.58sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 34.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 34.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 35.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 35.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 35.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 36.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 187 warnings · 254 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 1.57sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909401.43307996 seconds ×3 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.515ms + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909401.98676419 seconds. ×3 + 4.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5).[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550439 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550439 ms (missed cycles : 2).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms ×2 + 8.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.297763 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.297763 ms (missed cycles : 5).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 8.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 9.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 9.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972353 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972353 ms (missed cycles : 2).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 9.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 9.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 10.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714481 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714481 ms (missed cycles : 5).[0m ×2 + 10.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 10.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 11.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427962 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427962 ms (missed cycles : 3).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 11.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 12.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.105ms + 12.50sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062793 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062793 ms (missed cycles : 2).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937993 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937993 ms (missed cycles : 3).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237803 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237803 ms (missed cycles : 2).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 15.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.391739 ms (missed cycles : 9). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.391739 ms (missed cycles : 9).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.161ms + 16.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637509 ms (missed cycles : 4). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637509 ms (missed cycles : 4).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 17.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191777 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191777 ms (missed cycles : 2).[0m ×2 + 18.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms ×2 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676339 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676339 ms (missed cycles : 2).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094411 ms (missed cycles : 4). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094411 ms (missed cycles : 4).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958000 ms (missed cycles : 3). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958000 ms (missed cycles : 3).[0m ×2 + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075563 ms (missed cycles : 4). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075563 ms (missed cycles : 4).[0m ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772668 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772668 ms (missed cycles : 3).[0m ×2 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461340 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461340 ms (missed cycles : 3).[0m ×2 + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716911 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716911 ms (missed cycles : 3).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms ×2 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918955 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918955 ms (missed cycles : 3).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443396 ms (missed cycles : 3). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443396 ms (missed cycles : 3).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.507ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230137 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230137 ms (missed cycles : 2).[0m ×2 + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399576 ms (missed cycles : 5). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399576 ms (missed cycles : 5).[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601351 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601351 ms (missed cycles : 4).[0m ×2 + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.734373 ms (missed cycles : 7). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.734373 ms (missed cycles : 7).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.890ms + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224639 ms (missed cycles : 2). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224639 ms (missed cycles : 2).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983278 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983278 ms (missed cycles : 2).[0m ×2 + 33.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 34.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956411 ms (missed cycles : 5). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956411 ms (missed cycles : 5).[0m ×2 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 35.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835129 ms (missed cycles : 4). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835129 ms (missed cycles : 4).[0m ×2 + 36.04sWARNstate_estimatorOptimization exceeded the configured duration by 83409720ns + 36.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.239ms + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101019 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101019 ms (missed cycles : 2).[0m ×2 + 36.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203295 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203295 ms (missed cycles : 2).[0m ×2 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389161 ms (missed cycles : 2). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389161 ms (missed cycles : 2).[0m ×2 + 38.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 39.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493653 ms (missed cycles : 4). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493653 ms (missed cycles : 4).[0m ×2 + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256118 ms (missed cycles : 5). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256118 ms (missed cycles : 5).[0m ×2 + 41.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009381 ms (missed cycles : 4). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009381 ms (missed cycles : 4).[0m ×2 + 41.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 42.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043499 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043499 ms (missed cycles : 3).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758876 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758876 ms (missed cycles : 3).[0m ×2 + 44.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910062 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910062 ms (missed cycles : 2).[0m ×2 + 45.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.516ms + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194046 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194046 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595426 ms (missed cycles : 3). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595426 ms (missed cycles : 3).[0m ×2 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909144 ms (missed cycles : 2). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909144 ms (missed cycles : 2).[0m ×2 + 47.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.821ms + 48.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.078ms + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458894 ms (missed cycles : 2). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458894 ms (missed cycles : 2).[0m ×2 + 49.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069347 ms (missed cycles : 7). + 49.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069347 ms (missed cycles : 7).[0m ×2 + 50.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613347 ms (missed cycles : 6). + 50.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613347 ms (missed cycles : 6).[0m ×2 + 51.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 51.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284422 ms (missed cycles : 3). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284422 ms (missed cycles : 3).[0m ×2 + 52.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708801 ms (missed cycles : 2). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708801 ms (missed cycles : 2).[0m ×2 + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213839 ms (missed cycles : 2). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213839 ms (missed cycles : 2).[0m ×2 + 54.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.845ms + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489366 ms (missed cycles : 2). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489366 ms (missed cycles : 2).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165705 ms (missed cycles : 3). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165705 ms (missed cycles : 3).[0m ×2 + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 57.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 58.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 58.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 59.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 60.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 60.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 seconds ×3 + 60.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 60.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 61.06sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 61.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 61.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 61.45sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 61.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 61.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 61.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 62.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 62.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 62.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 63.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 63.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 63.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 6 errors · 181 warnings · 239 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006791 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006791 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 7.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 7.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814487 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814487 ms (missed cycles : 2).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms ×2 + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794141 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794141 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069113 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069113 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675771 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675771 ms (missed cycles : 2).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280724 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280724 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726055 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726055 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306995 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306995 ms (missed cycles : 2).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725956 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725956 ms (missed cycles : 2).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077450 ms (missed cycles : 4). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077450 ms (missed cycles : 4).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.279ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822038 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822038 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720540 ms (missed cycles : 3). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720540 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655165 ms (missed cycles : 4). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655165 ms (missed cycles : 4).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms ×3 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775537 ms (missed cycles : 6). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775537 ms (missed cycles : 6).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312388 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312388 ms (missed cycles : 2).[0m ×2 + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396762 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396762 ms (missed cycles : 2).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741266 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741266 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 24.96sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573243 ms (missed cycles : 3). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573243 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761244 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761244 ms (missed cycles : 2).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.196ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.398ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298197 ms (missed cycles : 2). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298197 ms (missed cycles : 2).[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964485 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964485 ms (missed cycles : 3).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149396 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149396 ms (missed cycles : 2).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.653ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.212ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004561 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004561 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.679ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817553 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817553 ms (missed cycles : 2).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118549 ms (missed cycles : 4). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118549 ms (missed cycles : 4).[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.116ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903605 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903605 ms (missed cycles : 2).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 33.72sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487959 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487959 ms (missed cycles : 2).[0m ×2 + 34.47sWARNstate_estimatorOptimization exceeded the configured duration by 62573511ns + 34.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.485ms + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730409 ms (missed cycles : 6). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730409 ms (missed cycles : 6).[0m ×2 + 35.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567036 ms (missed cycles : 6). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567036 ms (missed cycles : 6).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077529 ms (missed cycles : 3). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077529 ms (missed cycles : 3).[0m ×2 + 37.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119377 ms (missed cycles : 4). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119377 ms (missed cycles : 4).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797968 ms (missed cycles : 4). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797968 ms (missed cycles : 4).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172888 ms (missed cycles : 4). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172888 ms (missed cycles : 4).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194732 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194732 ms (missed cycles : 3).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319698 ms (missed cycles : 2). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319698 ms (missed cycles : 2).[0m ×2 + 43.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804199 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804199 ms (missed cycles : 3).[0m ×2 + 43.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765674 ms (missed cycles : 3). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765674 ms (missed cycles : 3).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819620 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819620 ms (missed cycles : 2).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253257 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253257 ms (missed cycles : 2).[0m ×2 + 47.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106247 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106247 ms (missed cycles : 2).[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809313 ms (missed cycles : 2). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809313 ms (missed cycles : 2).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520288 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520288 ms (missed cycles : 2).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 50.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.807ms + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104933 ms (missed cycles : 2). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104933 ms (missed cycles : 2).[0m ×2 + 51.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 51.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955574 ms (missed cycles : 4). + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955574 ms (missed cycles : 4).[0m ×2 + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655314 ms (missed cycles : 3). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655314 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483975 ms (missed cycles : 3). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483975 ms (missed cycles : 3).[0m ×2 + 54.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867424 ms (missed cycles : 4). + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867424 ms (missed cycles : 4).[0m ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626914 ms (missed cycles : 6). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626914 ms (missed cycles : 6).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683490 ms (missed cycles : 3). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683490 ms (missed cycles : 3).[0m ×2 + 58.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742967 ms (missed cycles : 2). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742967 ms (missed cycles : 2).[0m ×2 + 58.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 58.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511633 ms (missed cycles : 4). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511633 ms (missed cycles : 4).[0m ×2 + 59.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909624.61773682 seconds ×3 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.282ms + 59.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.987ms + 59.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.331ms + 59.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909625.18042064 seconds. ×3 + 59.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.503ms + 60.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.605ms + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093495 ms (missed cycles : 4). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093495 ms (missed cycles : 4).[0m ×2 + 60.23sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 60.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.307ms + 60.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.886ms + 60.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.192ms + 61.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.144ms + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975280 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975280 ms (missed cycles : 2).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.058ms + 61.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.388ms + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056828 ms (missed cycles : 2). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 148 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453320 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453320 ms (missed cycles : 4).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.214ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059787 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059787 ms (missed cycles : 4).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183898 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183898 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498859 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498859 ms (missed cycles : 3).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991738 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991738 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788914 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788914 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904012 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904012 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005577 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005577 ms (missed cycles : 2).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020191 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020191 ms (missed cycles : 2).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572935 ms (missed cycles : 6). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572935 ms (missed cycles : 6).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134997 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134997 ms (missed cycles : 3).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738234 ms (missed cycles : 5). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738234 ms (missed cycles : 5).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.015ms + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721456 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721456 ms (missed cycles : 3).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387510 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387510 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886127 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886127 ms (missed cycles : 3).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306182 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306182 ms (missed cycles : 2).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295009 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295009 ms (missed cycles : 2).[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965354 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965354 ms (missed cycles : 3).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901779 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901779 ms (missed cycles : 2).[0m ×2 + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117361 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117361 ms (missed cycles : 2).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923617 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923617 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979374 ms (missed cycles : 5). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979374 ms (missed cycles : 5).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213880 ms (missed cycles : 4). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213880 ms (missed cycles : 4).[0m ×2 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647687 ms (missed cycles : 3). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647687 ms (missed cycles : 3).[0m ×2 + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.955374 ms (missed cycles : 6). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.955374 ms (missed cycles : 6).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929539 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929539 ms (missed cycles : 2).[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234328 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234328 ms (missed cycles : 2).[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029890 ms (missed cycles : 6). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029890 ms (missed cycles : 6).[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528964 ms (missed cycles : 3). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528964 ms (missed cycles : 3).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273758 ms (missed cycles : 5). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273758 ms (missed cycles : 5).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216665 ms (missed cycles : 2). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216665 ms (missed cycles : 2).[0m ×2 + 38.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634387 ms (missed cycles : 4). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634387 ms (missed cycles : 4).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343269 ms (missed cycles : 2). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343269 ms (missed cycles : 2).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339823 ms (missed cycles : 3). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339823 ms (missed cycles : 3).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772245 ms (missed cycles : 5). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772245 ms (missed cycles : 5).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114588 ms (missed cycles : 4). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114588 ms (missed cycles : 4).[0m ×2 + 44.14sWARNstate_estimatorOptimization exceeded the configured duration by 685191705ns + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4).[0m ×2 + 47.20sINFOjoint_trajectory_controllerGoal reached, success! + 47.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 47.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 47.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 47.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 48.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 48.76sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 48.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 109 warnings · 190 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 0.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.317ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979183 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979183 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.856ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909462.86053348 seconds ×3 + 2.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.108ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210565 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210565 ms (missed cycles : 2).[0m ×2 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436686 ms (missed cycles : 7). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436686 ms (missed cycles : 7).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909464.44471598 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291049 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291049 ms (missed cycles : 2).[0m ×2 + 5.16sWARNstate_estimatorOptimization exceeded the configured duration by 57482958ns + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539746 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539746 ms (missed cycles : 5).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575182 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575182 ms (missed cycles : 4).[0m ×2 + 7.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.376ms + 7.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.474ms + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153616 ms (missed cycles : 4). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153616 ms (missed cycles : 4).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.755ms + 8.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.666ms + 8.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.471ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528174 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528174 ms (missed cycles : 3).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.066ms + 9.19sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 5.087ms + 9.37sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 3.199ms + 9.59sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 3.765ms + 9.77sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.861ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761801 ms (missed cycles : 6). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761801 ms (missed cycles : 6).[0m ×2 + 9.94sINFOros2_control_nodeMuJoCo sim: 0.93% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.056ms + 10.39sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.209ms + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.740ms + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284994 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284994 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.625ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.966ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700027 ms (missed cycles : 5). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700027 ms (missed cycles : 5).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424972 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424972 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267489 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267489 ms (missed cycles : 2).[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.631ms + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851810 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851810 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.538ms + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990965 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990965 ms (missed cycles : 2).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922963 ms (missed cycles : 4). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922963 ms (missed cycles : 4).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.862ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.592ms + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819898 ms (missed cycles : 5). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819898 ms (missed cycles : 5).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499295 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499295 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409181 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409181 ms (missed cycles : 3).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.474ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832040 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832040 ms (missed cycles : 3).[0m ×2 + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697257 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697257 ms (missed cycles : 2).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 22.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.516ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361962 ms (missed cycles : 3). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361962 ms (missed cycles : 3).[0m ×2 + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937534 ms (missed cycles : 7). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937534 ms (missed cycles : 7).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.812ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.782ms + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905920 ms (missed cycles : 5). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905920 ms (missed cycles : 5).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.532ms + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 26.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347937 ms (missed cycles : 3). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347937 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.733ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107985 ms (missed cycles : 7). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107985 ms (missed cycles : 7).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.237ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.604ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038161 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038161 ms (missed cycles : 2).[0m ×2 + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740697 ms (missed cycles : 5). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740697 ms (missed cycles : 5).[0m ×2 + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.787ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3). + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2).[0m ×2 + 31.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 33.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2).[0m ×2 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 34.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909494.72484827 seconds ×3 + 34.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.051ms + 34.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7).[0m ×2 + 34.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.288ms + 35.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909495.29342270 seconds. ×3 + 35.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.186ms + 35.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.844ms + 35.36sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 35.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.153ms + 35.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.944ms + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7).[0m ×2 + 35.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.305ms + 36.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.809ms + 36.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.325ms + 36.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.842ms + 36.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 37.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.888ms + 37.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.2s | 58 warnings · 159 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626914 ms (missed cycles : 6). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626914 ms (missed cycles : 6).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683490 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683490 ms (missed cycles : 3).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742967 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742967 ms (missed cycles : 2).[0m ×2 + 2.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511633 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511633 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909624.61773682 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.282ms + 3.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.987ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.331ms + 3.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909625.18042064 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.503ms + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.605ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093495 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093495 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.307ms + 4.55sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.886ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.192ms + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.144ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975280 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975280 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.058ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.388ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056828 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056828 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.270ms + 6.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.319ms + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234807 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234807 ms (missed cycles : 2).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.163ms + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093206 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093206 ms (missed cycles : 4).[0m ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 29 iterations (0.0276229 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X____X] ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673867 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673867 ms (missed cycles : 3).[0m ×2 + 9.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×4 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146655 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146655 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823756 ms (missed cycles : 4). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823756 ms (missed cycles : 4).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.165ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.079182 ms (missed cycles : 7). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.079182 ms (missed cycles : 7).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.643ms + 12.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.760ms + 13.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.542ms + 13.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.794ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.794ms + 13.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.391ms + 14.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.366ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5).[0m ×2 + 14.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.715ms + 14.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 15.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.041ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4).[0m ×2 + 15.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.788ms + 16.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.483ms + 16.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909637.80135036 seconds ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.600ms + 16.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.581ms + 16.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.597ms + 17.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909638.40142345 seconds. ×3 + 17.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.12sINFOmove_groupClearing octomap...[0m ×2 + 17.12sINFOmove_groupOctomap cleared.[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.002ms + 17.18sWARNstate_estimatorOptimization exceeded the configured duration by 2348904ns + 17.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.099ms + 17.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.695ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6).[0m ×2 + 17.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909638.90417862 seconds ×3 + 17.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.670ms + 17.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.762ms + 17.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.512ms + 18.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.560ms + 18.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909639.45686340 seconds. ×3 + 18.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.752ms + 18.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.560ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2).[0m ×2 + 18.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.748ms + 18.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.770ms + 18.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909640.13699770 seconds ×3 + 18.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.575ms + 19.06sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.998ms + 19.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 87 errors · 34 warnings · 437 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.794ms + 0.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.391ms + 0.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.366ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.715ms + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 1.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.041ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.788ms + 2.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.483ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909637.80135036 seconds ×3 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.600ms + 3.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.581ms + 3.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.597ms + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909638.40142345 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.002ms + 3.61sWARNstate_estimatorOptimization exceeded the configured duration by 2348904ns + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.099ms + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.695ms + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909638.90417862 seconds ×3 + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.670ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.762ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.512ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.560ms + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909639.45686340 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.752ms + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.560ms + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.748ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.770ms + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909640.13699770 seconds ×3 + 5.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.575ms + 5.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.998ms + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms + 5.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.682ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896636 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896636 ms (missed cycles : 2).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 6.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.899ms + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285660 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285660 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770563 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770563 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757794 ms (missed cycles : 5). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757794 ms (missed cycles : 5).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144014 ms (missed cycles : 4). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144014 ms (missed cycles : 4).[0m ×2 + 10.91sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 10.96sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_video_auth_proxy-36process has died [pid 13703, 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 + 10.96sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 10.99sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORweb_bridge_auth_proxy-35process has died [pid 13702, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.00sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 11.08sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 11.11sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 11.13sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584994 ms (missed cycles : 3). + 11.15sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 11.18sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.21sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.24sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 11.26sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 11.28sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 11.29sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 11.34sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 11.36sINFOweb_video_server-34process has finished cleanly [pid 13683] ×2 + 11.37sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 11.41sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13682] ×2 + 11.42sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 11.46sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 11.46sINFOcontroller_managerShutdown request received.... + 11.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down the controller manager. + 11.49sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 11.49sERRORui_teleop_bridge-31process has died [pid 13680, 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_sq99qwq1']. ×2 + 11.49sINFOcomponent_container_mt-29process has finished cleanly [pid 13678] ×2 + 11.52sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.54sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.55sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13675] ×2 + 11.57sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 11.57sINFOexecute_objective_bridge-30process has finished cleanly [pid 13679] ×2 + 11.57sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13674] ×2 + 11.59sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 11.62sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.64sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.64sERRORobjective_server_node_main-27process has died [pid 13676, 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_ewdffm_3 --params-file /tmp/launch_params__4cmxfy4 --params-file /tmp/launch_params_gnu1m48r --params-file /tmp/launch_params_b1urb7av --params-file /tmp/launch_params_z8218fw9 --params-file /tmp/launch_params_vux_7exe --params-file /tmp/launch_params_wm3bcn2f --params-file /tmp/launch_params_8q59m17y --params-file /tmp/launch_params_8em1hd8b']. ×2 + 11.66sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.68sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.68sINFOcontroller_serverCleaning up + 11.68sINFOlocal_costmap.local_costmapCleaning up + 11.69sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584994 ms (missed cycles : 3).[0m ×2 + 11.69sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.69sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.69sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.69sINFOui_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 + 11.69sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.69sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.69sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.69sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.69sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.69sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 16:14:06.109] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.70sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 11.70sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOobjective_server_node[2026-07-24 16:14:06.321] [moveit_pro_license] [info] ×2 + 11.70sINFOobjective_server_node************************************************* ×4 + 11.70sINFOobjective_server_node* MoveIt Pro License ×2 + 11.70sINFOobjective_server_node* Application has successfully terminated ×2 + 11.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.71sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.71sINFOmove_groupDeleting MoveItCpp[0m ×2 + 11.71sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.71sINFOmove_groupStopping world geometry monitor[0m ×2 + 11.71sINFOmove_groupStopping planning scene monitor[0m ×2 + 11.71sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.71sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.71sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b0d6a4, in _start ×2 + 11.71sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd7371528a, in __libc_start_main ×2 + 11.71sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd737151d0, in ×2 + 11.71sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd73732bbd, in exit ×2 + 11.71sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd73732a75, in ×2 + 11.71sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fdd73c018f5, in spdlog::details::registry::~registry() ×2 + 11.71sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b0dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.71sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b14315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.71sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b135a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.71sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b0fb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.71sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557db2b0dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.71sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd742b7454, in rclcpp::Node::~Node() ×2 + 11.71sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd74272515, in ×2 + 11.71sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd742b5d20, in ×2 + 11.71sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd742b5c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.71sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd742725d9, in ×2 + 11.71sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd74277161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.71sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fdd1f267090]) ×2 + 11.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.72sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_qos_relay.pymain() ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.72sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.72sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.72sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.72sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.72sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.72sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.72sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 11.72sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_world_drift.pymain() ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.72sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.72sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.72sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.72sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.73sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.73sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.73sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.73sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.73sINFOmap_serverDeactivating + 11.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.74sINFOmap_serverCleaning up + 11.74sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.74sINFOsmoother_serverCleaning up + 11.75sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.75sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.75sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.75sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.75sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.77sERRORamclThe bond connection to the lifecycle manager has been broken + 11.78sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.78sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.78sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.78sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.78sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.78sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.78sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.23sERRORcomponent_container_isolated-1process has died [pid 13546, 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_z65p2paw --params-file /tmp/launch_params_wkihxtlz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sINFOwaypoint_manager_node-24process has finished cleanly [pid 13673] ×2 + 12.47sINFOparameter_manager_node-23process has finished cleanly [pid 13653] ×2 + 12.48sINFOcomponent_container_mt-28process has finished cleanly [pid 13677] ×2 + 12.56sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13553] ×2 + 12.58sINFOmove_group-22process has finished cleanly [pid 13652] ×2 + 12.59sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13552] ×2 + 12.62sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13554] ×2 + 12.66sINFOslip_aware_odom-4process has finished cleanly [pid 13549] ×2 + 12.67sERRORodom_qos_relay.py-6process has died [pid 13551, 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 + 12.70sINFOstatic_transform_publisher-2process has finished cleanly [pid 13547] ×2 + 12.78sINFOamcl_odom_gate-5process has finished cleanly [pid 13550] ×2 + 12.86sERRORodom_world_drift.py-3process has died [pid 13548, 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_4umwwmsd']. ×2 + 13.30sINFOros2_control_node-10process has finished cleanly [pid 13633] ×2 + 13.86sINFOweb_bridge-32process has finished cleanly [pid 13681] ×2 + 13.86sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 9 errors · 51 warnings · 115 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992939 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992939 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796430 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796430 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875068 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875068 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678434 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678434 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.58sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909528.61368871 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.363ms + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.283ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962883 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962883 ms (missed cycles : 4).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.873ms + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909529.29078698 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.580ms + 4.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.442ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×4 + 4.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.514ms + 4.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.614ms + 5.14sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.801ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360477 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360477 ms (missed cycles : 3).[0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.133ms + 5.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.309ms + 5.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.258ms + 5.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.637ms + 5.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.129ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377385 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377385 ms (missed cycles : 3).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.242ms + 6.45sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.927ms + 6.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.404ms + 6.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.889ms + 7.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.574ms + 7.24sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.077ms + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439954 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439954 ms (missed cycles : 3).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.787ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944760 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944760 ms (missed cycles : 2).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 5.102ms + 8.73sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.207ms + 9.04sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.499ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263143 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263143 ms (missed cycles : 5).[0m ×2 + 9.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.389ms + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 9.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 10.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101270 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101270 ms (missed cycles : 4).[0m ×2 + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 10.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 11.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390399 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390399 ms (missed cycles : 3).[0m ×2 + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 11.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 12.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685439 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685439 ms (missed cycles : 3).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 12.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144466 ms (missed cycles : 4). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144466 ms (missed cycles : 4).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 13.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 14.39sINFOjoint_trajectory_controllerGot request to cancel goal + 14.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909539.47113609 seconds ×3 + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981600 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981600 ms (missed cycles : 3).[0m ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 15.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909540.03013539 seconds. ×3 + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426573 ms (missed cycles : 6). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426573 ms (missed cycles : 6).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599333 ms (missed cycles : 6). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599333 ms (missed cycles : 6).[0m ×2 + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 37 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms + 6.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.317ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979183 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979183 ms (missed cycles : 3).[0m ×2 + 7.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.856ms + 8.15sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909462.86053348 seconds ×3 + 8.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.108ms + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210565 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210565 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436686 ms (missed cycles : 7). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436686 ms (missed cycles : 7).[0m ×2 + 9.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909464.44471598 seconds. ×3 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291049 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291049 ms (missed cycles : 2).[0m ×2 + 10.73sWARNstate_estimatorOptimization exceeded the configured duration by 57482958ns + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539746 ms (missed cycles : 5). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539746 ms (missed cycles : 5).[0m ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 31 warnings · 67 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 685191705ns + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3).[0m ×2 + 6.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909401.43307996 seconds ×3 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.515ms + 7.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909401.98676419 seconds. ×3 + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 7.66sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5).[0m ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 22 warnings · 64 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.643ms + 0.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.760ms + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.542ms + 0.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.794ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.794ms + 1.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.391ms + 1.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.366ms + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.715ms + 2.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 2.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.041ms + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.788ms + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.483ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909637.80135036 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.600ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.581ms + 4.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.597ms + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909638.40142345 seconds. ×3 + 4.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.64sINFOmove_groupClearing octomap...[0m ×2 + 4.65sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.002ms + 4.71sWARNstate_estimatorOptimization exceeded the configured duration by 2348904ns + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.099ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.695ms + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909638.90417862 seconds ×3 + 5.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.670ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.762ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.512ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.560ms + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909639.45686340 seconds. ×3 + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.752ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.560ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.748ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.770ms + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909640.13699770 seconds ×3 + 6.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.575ms + 6.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.998ms + 6.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms + 6.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.682ms + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896636 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896636 ms (missed cycles : 2).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.408ms + 8.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.899ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 19 warnings · 33 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 685191705ns + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 19 warnings · 33 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 685191705ns + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691110 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992195 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948235 ms (missed cycles : 4).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 67 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909397.77728558 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791074 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909398.33292341 seconds. ×3 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586251 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 1.57sINFOobjective_server_nodeFound path in 0 iterations (3.3191e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775234 ms (missed cycles : 6).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590257 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909401.43307996 seconds ×3 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304153 ms (missed cycles : 7).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.515ms + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909401.98676419 seconds. ×3 + 4.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778620 ms (missed cycles : 5).[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394646 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281964 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433981 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.510532 ms (missed cycles : 7).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650830 ms (missed cycles : 2).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909458.31691170 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 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.961ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.813ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238884 ms (missed cycles : 5).[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.199ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909458.88038635 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.717ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.550ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032102 ms (missed cycles : 4).[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.705ms + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.014ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510340 ms (missed cycles : 6).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3). + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909494.72484827 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.051ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.288ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909495.29342270 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.186ms + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.844ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.153ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.944ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.305ms + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.809ms + 5.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.325ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.842ms + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 6.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.888ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3). + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909494.72484827 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.051ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.288ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909495.29342270 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.186ms + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.844ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.153ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.944ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.305ms + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.809ms + 5.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.325ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.842ms + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 6.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.888ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3). + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770270 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901080 ms (missed cycles : 2).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962485 ms (missed cycles : 6).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774887 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909494.72484827 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.051ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.861342 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.288ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909495.29342270 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.186ms + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.844ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.153ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.944ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057893 ms (missed cycles : 7).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.305ms + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.809ms + 5.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.325ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.842ms + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715899 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 6.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.888ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 18 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838574 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959443 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627022 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.96sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909569.24055552 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910660 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909569.86756873 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128466 ms (missed cycles : 4).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216103 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 61 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.643ms + 0.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.760ms + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.542ms + 0.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.794ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765308 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.794ms + 1.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.391ms + 1.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.366ms + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887055 ms (missed cycles : 5).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.715ms + 2.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 2.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.041ms + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809992 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.788ms + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.483ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909637.80135036 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271254 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.600ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.581ms + 4.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.597ms + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909638.40142345 seconds. ×3 + 4.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.64sINFOmove_groupClearing octomap...[0m ×2 + 4.65sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.002ms + 4.71sWARNstate_estimatorOptimization exceeded the configured duration by 2348904ns + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.099ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.695ms + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381727 ms (missed cycles : 6).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909638.90417862 seconds ×3 + 5.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.670ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.762ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.512ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.560ms + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909639.45686340 seconds. ×3 + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.752ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.560ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806870 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.748ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.770ms + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909640.13699770 seconds ×3 + 6.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.575ms + 6.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.998ms + 6.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.7s | 73 errors · 698 warnings · 1955 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/2026-07-24-16-03-05-034459-46de4571a4bd-9345 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 12.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.01sINFOros2_control_node-10process started with pid [9482] + 13.01sINFOmove_group-22process started with pid [9494] + 13.01sINFOparameter_manager_node-23process started with pid [9495] + 13.01sINFOwaypoint_manager_node-24process started with pid [9518] + 13.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.03sINFOmove_joint_resampler_node-25process started with pid [9519] + 13.03sINFOmove_end_effector_resampler_node-26process started with pid [9520] + 13.03sINFOobjective_server_node_main-27process started with pid [9522] + 13.03sINFOcomponent_container_mt-28process started with pid [9523] + 13.03sINFOcomponent_container_mt-29process started with pid [9526] + 13.03sINFOexecute_objective_bridge-30process started with pid [9528] + 13.03sINFOui_teleop_bridge-31process started with pid [9530] + 13.03sINFOweb_bridge-32process started with pid [9531] + 13.03sINFOtf2_web_republisher_node-33process started with pid [9532] + 13.03sINFOweb_video_server-34process started with pid [9533] + 13.03sINFOweb_bridge_auth_proxy-35process started with pid [9536] + 13.03sINFOweb_video_auth_proxy-36process started with pid [9537] + 13.04sINFOcomponent_container_isolated-1process started with pid [9395] + 13.04sINFOstatic_transform_publisher-2process started with pid [9396] + 13.04sINFOodom_world_drift.py-3process started with pid [9397] + 13.04sINFOslip_aware_odom-4process started with pid [9398] + 13.04sINFOamcl_odom_gate-5process started with pid [9399] + 13.05sINFOodom_qos_relay.py-6process started with pid [9400] + 13.05sINFOscan_to_scan_filter_chain-7process started with pid [9401] + 13.05sINFOscan_to_scan_filter_chain-8process started with pid [9402] + 13.05sINFOfixed_lag_smoother_node-9process started with pid [9403] + 13.05sINFOros2-11process started with pid [9483] + 13.05sINFOros2-12process started with pid [9484] + 13.05sINFOros2-13process started with pid [9485] + 13.05sINFOros2-14process started with pid [9486] + 13.05sINFOros2-15process started with pid [9487] + 13.05sINFOros2-16process started with pid [9488] + 13.05sINFOros2-17process started with pid [9489] + 13.05sINFOros2-18process started with pid [9490] + 13.05sINFOros2-19process started with pid [9491] + 13.05sINFOros2-20process started with pid [9492] + 13.05sINFOros2-21process started with pid [9493] + 13.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.15sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.15sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.15sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.15sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.16sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.17sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 13.18sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.934902 ms (missed cycles : 6).[0m + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.29sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.29sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.29sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.36sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.51sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.73sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 13.83sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.84sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 14.04sINFOmove_groupLoaded robot model in 0.48392 seconds[0m + 14.04sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.04sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850909 ms (missed cycles : 4).[0m + 14.81sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.88sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.88sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.89sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.89sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.95sINFOwaypoint_manager_nodeLoaded robot model in 0.405025 seconds[0m + 14.95sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.96sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.08sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×23 + 15.21sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.21sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.36sINFOmove_group[2026-07-24 16:03:23.583] [moveit_pro_license] [info] + 15.36sINFOmove_group************************************************* ×6 + 15.36sINFOmove_group* MoveIt Pro License ×3 + 15.36sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485726 ms (missed cycles : 4).[0m + 15.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.73sINFOwaypoint_manager_node[2026-07-24 16:03:23.950] [moveit_pro_license] [info] + 15.73sINFOwaypoint_manager_node************************************************* ×6 + 15.73sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.73sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.76sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.76sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.76sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.76sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.76sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.77sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.77sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.77sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.77sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.77sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.96sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.96sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.96sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.96sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.96sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.96sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.96sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.96sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.96sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.96sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.96sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.96sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.01sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 16.05sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 16.05sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.06sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 16.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 16.15sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 16.15sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 16.16sINFOros2_control_nodeconfigure successful[0m ×9 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.32sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.32sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.33sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.33sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 16.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.40sINFOobjective_server_node[2026-07-24 16:03:24.625] [moveit_pro_license] [info] + 16.40sINFOobjective_server_node************************************************* ×8 + 16.40sINFOobjective_server_node* MoveIt Pro License ×4 + 16.40sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155698 ms (missed cycles : 4).[0m + 16.48sINFOobjective_server_nodeLoaded robot model in 0.0253511 seconds[0m + 16.48sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.48sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.58sINFOros2-16process has finished cleanly [pid 9488] + 16.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 16.59sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 16.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.63sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.64sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.65sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.79sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 16.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 16.93sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.95sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.95sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.95sINFOros2-11process has finished cleanly [pid 9483] + 17.21sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.21sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.23sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.24sINFOcomponent_container_mtLoaded robot model in 0.453279 seconds[0m + 17.25sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.25sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.25sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.26sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.30sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 17.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.38sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.38sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.40sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.41sINFOmove_group ×12 + 17.41sINFOmove_group******************************************************** ×6 + 17.41sINFOmove_group* MoveGroup using: ×3 + 17.41sINFOmove_group* - apply_planning_scene_service ×3 + 17.41sINFOmove_group* - clear_octomap_service ×3 + 17.41sINFOmove_group* - get_group_urdf ×3 + 17.41sINFOmove_group* - load_geometry_from_file ×3 + 17.41sINFOmove_group* - get_planning_scene_service ×3 + 17.41sINFOmove_group* - kinematics_service ×3 + 17.41sINFOmove_group* - save_geometry_to_file ×3 + 17.41sINFOmove_group* - GetPlanningGroups ×3 + 17.41sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.41sINFOmove_group[0m ×3 + 17.42sINFOmove_group[92mYou can start planning now![0m ×3 + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172914 ms (missed cycles : 3).[0m + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.77sINFOros2_control_node[2026-07-24 16:03:25.996] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.78sINFOros2_control_node[2026-07-24 16:03:26.000] [info] Controller state will be published at 10 Hz. + 17.78sINFOros2_control_node[2026-07-24 16:03:26.001] [info] VelocityForceController 'on_configure' succeeded. + 17.82sINFOcomponent_container_mt[2026-07-24 16:03:26.047] [moveit_pro_license] [info] + 17.82sINFOcomponent_container_mt************************************************* ×6 + 17.82sINFOcomponent_container_mt* MoveIt Pro License ×3 + 17.82sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.13sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.13sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.13sINFOros2-19process has finished cleanly [pid 9491] + 18.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 18.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 18.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 18.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 18.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2).[0m + 18.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 18.83sINFOros2_control_node[2026-07-24 16:03:27.052] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.83sINFOros2_control_node[2026-07-24 16:03:27.055] [info] Controller state will be published at 10 Hz. + 18.83sINFOros2_control_node[2026-07-24 16:03:27.056] [info] VelocityForceController 'on_configure' succeeded. + 18.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.17sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 19.17sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 19.17sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 19.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 19.21sINFOros2-18process has finished cleanly [pid 9490] + 19.24sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 19.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 19.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 19.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 19.25sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257874 ms (missed cycles : 2).[0m + 19.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.60sINFOros2-15process has finished cleanly [pid 9487] + 19.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 19.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.63sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 20.04sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.04sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 20.08sINFOros2-13process has finished cleanly [pid 9485] + 20.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 20.21sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 20.22sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413716 ms (missed cycles : 4).[0m + 20.56sINFOros2_control_node[2026-07-24 16:03:28.778] [info] Controller state will be published at 20 Hz. + 20.56sINFOros2_control_node[2026-07-24 16:03:28.779] [info] JointVelocityController 'on_configure' succeeded. + 20.91sINFOros2-21process has finished cleanly [pid 9493] + 20.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 20.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 20.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 20.98sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 20.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 20.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 21.00sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 21.32sINFOros2-14process has finished cleanly [pid 9486] + 21.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 21.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.42sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.42sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.42sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693745 ms (missed cycles : 5).[0m + 21.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.78sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 21.82sINFOros2-17process has finished cleanly [pid 9489] + 21.86sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.87sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 22.23sINFOros2-12process has finished cleanly [pid 9484] + 22.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 22.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u0zsswr3 --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_t384j6h1 --params-file /tmp/launch_params_bk4rwx8a [0m + 22.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178714 ms (missed cycles : 4).[0m + 22.89sINFOros2_control_node[2026-07-24 16:03:31.109] [info] Controller state will be published at 20 Hz. + 22.89sINFOros2_control_node[2026-07-24 16:03:31.111] [info] JointVelocityController 'on_configure' succeeded. + 22.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.25sINFOros2-20process has finished cleanly [pid 9492] + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553186 ms (missed cycles : 4).[0m + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779350 ms (missed cycles : 3).[0m + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.354599 ms (missed cycles : 7).[0m + 26.03sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619756 ms (missed cycles : 2).[0m + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3).[0m + 28.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909016.36215353 seconds. + 28.14sINFOmove_groupClearing octomap...[0m ×4 + 28.14sINFOmove_groupOctomap cleared.[0m ×4 + 28.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909016.37238765 seconds + 28.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909016.92857647 seconds. + 28.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909016.94305277 seconds + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810009 ms (missed cycles : 4).[0m + 29.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909017.49949718 seconds. + 29.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909017.65049028 seconds + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694471 ms (missed cycles : 2).[0m + 30.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909018.23276591 seconds. + 30.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 30.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909018.30291748 seconds + 30.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909018.86695647 seconds. + 30.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870423 ms (missed cycles : 2).[0m + 31.72sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994675 ms (missed cycles : 5).[0m + 31.97sINFOros2_control_nodeReceived new action goal[0m ×13 + 31.97sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676855 ms (missed cycles : 3).[0m + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073502 ms (missed cycles : 3).[0m + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619054 ms (missed cycles : 3).[0m + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076947 ms (missed cycles : 2).[0m + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871107 ms (missed cycles : 3).[0m + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006602 ms (missed cycles : 3).[0m + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291309 ms (missed cycles : 2).[0m + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066629 ms (missed cycles : 4).[0m + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.981703 ms (missed cycles : 6).[0m + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764999 ms (missed cycles : 4).[0m + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021271 ms (missed cycles : 3).[0m + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064464 ms (missed cycles : 2).[0m + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653565 ms (missed cycles : 4).[0m + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073180 ms (missed cycles : 3).[0m + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005726 ms (missed cycles : 5).[0m + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991621 ms (missed cycles : 3).[0m + 49.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895467 ms (missed cycles : 4).[0m + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839187 ms (missed cycles : 5).[0m + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692757 ms (missed cycles : 4).[0m + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.549269 ms (missed cycles : 6).[0m + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076225 ms (missed cycles : 6).[0m + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939531 ms (missed cycles : 5).[0m + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899157 ms (missed cycles : 5).[0m + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987957 ms (missed cycles : 2).[0m + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164419 ms (missed cycles : 3).[0m + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411962 ms (missed cycles : 5).[0m + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148496 ms (missed cycles : 4).[0m + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944417 ms (missed cycles : 2).[0m + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443568 ms (missed cycles : 5).[0m + 62.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268325 ms (missed cycles : 3).[0m + 63.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037685 ms (missed cycles : 3).[0m + 64.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733901 ms (missed cycles : 3).[0m + 65.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266570 ms (missed cycles : 2).[0m + 66.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780307 ms (missed cycles : 5).[0m + 67.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446025 ms (missed cycles : 2).[0m + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971555 ms (missed cycles : 3).[0m + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449933 ms (missed cycles : 6).[0m + 70.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503907 ms (missed cycles : 6).[0m + 71.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762221 ms (missed cycles : 3).[0m + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678811 ms (missed cycles : 6).[0m + 73.63sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909061.85613537 seconds + 73.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738896 ms (missed cycles : 2).[0m + 74.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909062.40395522 seconds. + 75.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002943 ms (missed cycles : 5).[0m + 75.12sINFOobjective_server_nodeFound path in 0 iterations (2.9331e-05 s). + 75.12sINFOobjective_server_nodePath shortcutter: [X____X] + 75.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 76.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758177 ms (missed cycles : 4).[0m + 77.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019159 ms (missed cycles : 2).[0m + 77.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909065.49410939 seconds + 77.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909066.06142998 seconds. + 78.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677913 ms (missed cycles : 5).[0m + 78.20sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 79.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727383 ms (missed cycles : 4).[0m + 79.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708978 ms (missed cycles : 5).[0m + 81.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935779 ms (missed cycles : 3).[0m + 82.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475971 ms (missed cycles : 3).[0m + 83.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471347 ms (missed cycles : 3).[0m + 84.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036268 ms (missed cycles : 2).[0m + 85.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993173 ms (missed cycles : 2).[0m + 86.03sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987738 ms (missed cycles : 6).[0m + 87.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632515 ms (missed cycles : 3).[0m + 88.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635721 ms (missed cycles : 2).[0m + 89.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013529 ms (missed cycles : 2).[0m + 90.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049690 ms (missed cycles : 3).[0m + 91.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857351 ms (missed cycles : 2).[0m + 92.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754750 ms (missed cycles : 3).[0m + 93.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846957 ms (missed cycles : 2).[0m + 94.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074027 ms (missed cycles : 3).[0m + 95.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713196 ms (missed cycles : 2).[0m + 96.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760130 ms (missed cycles : 3).[0m + 97.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859309 ms (missed cycles : 3).[0m + 98.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674466 ms (missed cycles : 4).[0m + 99.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059253 ms (missed cycles : 2).[0m +101.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684176 ms (missed cycles : 4).[0m +102.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759052 ms (missed cycles : 4).[0m +103.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030844 ms (missed cycles : 2).[0m +104.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322006 ms (missed cycles : 2).[0m +105.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025509 ms (missed cycles : 3).[0m +106.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.264982 ms (missed cycles : 8).[0m +107.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006045 ms (missed cycles : 2).[0m +108.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293661 ms (missed cycles : 7).[0m +108.52sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.244303 ms (missed cycles : 8).[0m +110.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734021 ms (missed cycles : 3).[0m +111.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693059 ms (missed cycles : 3).[0m +112.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294281 ms (missed cycles : 5).[0m +113.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628031 ms (missed cycles : 7).[0m +114.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268805 ms (missed cycles : 3).[0m +115.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948426 ms (missed cycles : 3).[0m +116.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326093 ms (missed cycles : 5).[0m +117.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788661 ms (missed cycles : 2).[0m +118.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933472 ms (missed cycles : 3).[0m +119.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.018570 ms (missed cycles : 6).[0m +120.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407231 ms (missed cycles : 3).[0m +121.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881814 ms (missed cycles : 2).[0m +122.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691307 ms (missed cycles : 6).[0m +123.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.972772 ms (missed cycles : 6).[0m +124.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323099 ms (missed cycles : 5).[0m +125.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612026 ms (missed cycles : 4).[0m +127.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120674 ms (missed cycles : 3).[0m +128.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041418 ms (missed cycles : 3).[0m +129.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170442 ms (missed cycles : 2).[0m +130.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140705 ms (missed cycles : 5).[0m +131.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406699 ms (missed cycles : 5).[0m +132.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265124 ms (missed cycles : 4).[0m +133.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676860 ms (missed cycles : 3).[0m +134.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909122.35629129 seconds +134.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980765 ms (missed cycles : 3).[0m +134.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909122.92806435 seconds. +135.07sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). +135.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666850 ms (missed cycles : 4).[0m +136.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076144 ms (missed cycles : 2).[0m +137.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309011 ms (missed cycles : 2).[0m +138.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116331 ms (missed cycles : 3).[0m +138.71sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909126.93081117 seconds +139.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280727 ms (missed cycles : 4).[0m +140.28sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909128.49949074 seconds. +140.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067295 ms (missed cycles : 3).[0m +140.61sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×3 +141.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778215 ms (missed cycles : 6).[0m +142.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298178 ms (missed cycles : 2).[0m +143.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266543 ms (missed cycles : 5).[0m +144.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350321 ms (missed cycles : 4).[0m +145.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965226 ms (missed cycles : 3).[0m +146.03sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827059 ms (missed cycles : 3).[0m +147.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426669 ms (missed cycles : 3).[0m +148.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756334 ms (missed cycles : 3).[0m +149.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610595 ms (missed cycles : 2).[0m +150.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831022 ms (missed cycles : 2).[0m +151.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518060 ms (missed cycles : 7).[0m +152.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973089 ms (missed cycles : 2).[0m +153.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747839 ms (missed cycles : 7).[0m +154.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406114 ms (missed cycles : 2).[0m +155.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970251 ms (missed cycles : 2).[0m +156.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276084 ms (missed cycles : 2).[0m +157.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719133 ms (missed cycles : 2).[0m +159.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375674 ms (missed cycles : 4).[0m +160.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.596808 ms (missed cycles : 6).[0m +161.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.177231 ms (missed cycles : 6).[0m +162.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310592 ms (missed cycles : 5).[0m +163.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144272 ms (missed cycles : 3).[0m +164.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273467 ms (missed cycles : 6).[0m +165.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471916 ms (missed cycles : 3).[0m +166.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303843 ms (missed cycles : 3).[0m +167.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357194 ms (missed cycles : 5).[0m +168.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711093 ms (missed cycles : 3).[0m +169.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986466 ms (missed cycles : 3).[0m +170.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716153 ms (missed cycles : 2).[0m +170.59sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909158.80965424 seconds +171.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909159.38143420 seconds. +171.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090777 ms (missed cycles : 4).[0m +171.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +172.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069442 ms (missed cycles : 3).[0m +172.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +173.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486831 ms (missed cycles : 3).[0m +174.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189605 ms (missed cycles : 3).[0m +175.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075704 ms (missed cycles : 5).[0m +176.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843413 ms (missed cycles : 3).[0m +177.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085174 ms (missed cycles : 4).[0m +178.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039145 ms (missed cycles : 6).[0m +179.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806461 ms (missed cycles : 2).[0m +180.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563896 ms (missed cycles : 4).[0m +181.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492656 ms (missed cycles : 4).[0m +182.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337566 ms (missed cycles : 5).[0m +183.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.731230 ms (missed cycles : 6).[0m +184.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542711 ms (missed cycles : 4).[0m +185.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843174 ms (missed cycles : 4).[0m +186.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286320 ms (missed cycles : 4).[0m +188.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644240 ms (missed cycles : 4).[0m +189.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099451 ms (missed cycles : 2).[0m +190.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508415 ms (missed cycles : 3).[0m +191.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632234 ms (missed cycles : 4).[0m +192.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087611 ms (missed cycles : 2).[0m +193.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767208 ms (missed cycles : 2).[0m +194.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532298 ms (missed cycles : 5).[0m +195.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.140095 ms (missed cycles : 6).[0m +196.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892706 ms (missed cycles : 3).[0m +197.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731984 ms (missed cycles : 2).[0m +198.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425969 ms (missed cycles : 3).[0m +199.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749350 ms (missed cycles : 3).[0m +200.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250272 ms (missed cycles : 2).[0m +201.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550008 ms (missed cycles : 3).[0m +202.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890725 ms (missed cycles : 3).[0m +202.82sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +202.83sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +202.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909191.05169129 seconds +203.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963539 ms (missed cycles : 3).[0m +203.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909191.72761655 seconds. +204.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522968 ms (missed cycles : 5).[0m +205.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640942 ms (missed cycles : 6).[0m +206.03sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960367 ms (missed cycles : 2).[0m +207.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982248 ms (missed cycles : 3).[0m +208.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018770 ms (missed cycles : 3).[0m +209.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936756 ms (missed cycles : 2).[0m +210.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848428 ms (missed cycles : 3).[0m +211.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857458 ms (missed cycles : 7).[0m +212.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744538 ms (missed cycles : 3).[0m +213.96sINFOros2_control_nodeGot request to cancel goal[0m +213.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376351 ms (missed cycles : 5).[0m +214.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909202.22658539 seconds +214.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909202.77838874 seconds. +214.92sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 +215.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071745 ms (missed cycles : 2).[0m +216.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699473 ms (missed cycles : 2).[0m +217.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927123 ms (missed cycles : 5).[0m +218.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340102 ms (missed cycles : 5).[0m +219.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101535 ms (missed cycles : 4).[0m +220.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966077 ms (missed cycles : 3).[0m +221.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772697 ms (missed cycles : 2).[0m +222.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070350 ms (missed cycles : 2).[0m +223.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972117 ms (missed cycles : 2).[0m +224.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039370 ms (missed cycles : 3).[0m +225.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210836 ms (missed cycles : 2).[0m +226.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830246 ms (missed cycles : 2).[0m +227.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091492 ms (missed cycles : 2).[0m +228.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713405 ms (missed cycles : 2).[0m +229.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068433 ms (missed cycles : 3).[0m +230.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227500 ms (missed cycles : 4).[0m +231.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173574 ms (missed cycles : 5).[0m +232.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845183 ms (missed cycles : 2).[0m +233.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791554 ms (missed cycles : 2).[0m +234.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814714 ms (missed cycles : 3).[0m +235.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.552555 ms (missed cycles : 11).[0m +236.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.339970 ms (missed cycles : 8).[0m +237.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928508 ms (missed cycles : 3).[0m +238.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559237 ms (missed cycles : 3).[0m +239.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111646 ms (missed cycles : 2).[0m +240.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337123 ms (missed cycles : 5).[0m +241.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.384724 ms (missed cycles : 8).[0m +243.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462029 ms (missed cycles : 3).[0m +244.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774128 ms (missed cycles : 3).[0m +244.76sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +244.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +244.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909232.98859119 seconds +245.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004363 ms (missed cycles : 2).[0m +245.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909233.60738349 seconds. +245.76sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +246.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058465 ms (missed cycles : 3).[0m +247.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708017 ms (missed cycles : 3).[0m +248.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015651 ms (missed cycles : 3).[0m +249.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039024 ms (missed cycles : 5).[0m +250.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.056908 ms (missed cycles : 6).[0m +251.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863644 ms (missed cycles : 3).[0m +252.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172525 ms (missed cycles : 3).[0m +253.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062706 ms (missed cycles : 5).[0m +254.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810367 ms (missed cycles : 4).[0m +255.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330478 ms (missed cycles : 5).[0m +256.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830539 ms (missed cycles : 4).[0m +257.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806566 ms (missed cycles : 2).[0m +258.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768628 ms (missed cycles : 2).[0m +259.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195644 ms (missed cycles : 6).[0m +260.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043416 ms (missed cycles : 4).[0m +261.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151333 ms (missed cycles : 4).[0m +262.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270280 ms (missed cycles : 2).[0m +263.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982000 ms (missed cycles : 2).[0m +264.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935884 ms (missed cycles : 6).[0m +265.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.035290 ms (missed cycles : 6).[0m +266.03sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122626 ms (missed cycles : 3).[0m +267.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.009291 ms (missed cycles : 6).[0m +268.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594267 ms (missed cycles : 3).[0m +270.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725130 ms (missed cycles : 2).[0m +271.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184318 ms (missed cycles : 7).[0m +272.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786389 ms (missed cycles : 4).[0m +273.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250434 ms (missed cycles : 2).[0m +274.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163684 ms (missed cycles : 5).[0m +275.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798662 ms (missed cycles : 4).[0m +276.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144155 ms (missed cycles : 4).[0m +277.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669306 ms (missed cycles : 3).[0m +278.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854283 ms (missed cycles : 2).[0m +279.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580601 ms (missed cycles : 3).[0m +280.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.009019 ms (missed cycles : 6).[0m +281.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815266 ms (missed cycles : 3).[0m +282.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893288 ms (missed cycles : 5).[0m +283.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822914 ms (missed cycles : 2).[0m +284.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068680 ms (missed cycles : 6).[0m +285.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012233 ms (missed cycles : 6).[0m +286.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372690 ms (missed cycles : 5).[0m +287.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734557 ms (missed cycles : 3).[0m +288.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027948 ms (missed cycles : 3).[0m +289.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772785 ms (missed cycles : 2).[0m +290.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937925 ms (missed cycles : 3).[0m +291.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607458 ms (missed cycles : 3).[0m +292.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126002 ms (missed cycles : 2).[0m +293.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.310765 ms (missed cycles : 10).[0m +294.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290484 ms (missed cycles : 3).[0m +295.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071272 ms (missed cycles : 5).[0m +296.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354340 ms (missed cycles : 5).[0m +297.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951407 ms (missed cycles : 3).[0m +298.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114264 ms (missed cycles : 5).[0m +299.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308993 ms (missed cycles : 3).[0m +300.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909288.23752689 seconds +300.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909288.80913806 seconds. +300.91sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). +300.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155935 ms (missed cycles : 3).[0m +302.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079446 ms (missed cycles : 4).[0m +303.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606186 ms (missed cycles : 4).[0m +304.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073914 ms (missed cycles : 3).[0m +305.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850137 ms (missed cycles : 2).[0m +305.18sINFOobjective_server_nodePath shortcutter: [X__________________X] +305.21sINFOobjective_server_nodeFound path in 0 iterations (8e-07 s). +305.25sINFOobjective_server_nodePath shortcutter: [X____________________X] +305.28sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +305.33sINFOobjective_server_nodePath shortcutter: [X_________________________X] +305.37sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +305.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +305.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +305.75sINFOobjective_server_nodeFound path in 29 iterations (0.0300186 s). +305.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_____X] +306.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +306.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135712 ms (missed cycles : 3).[0m +306.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +306.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +306.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +306.98sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +307.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825781 ms (missed cycles : 7).[0m +308.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075523 ms (missed cycles : 2).[0m +309.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057464 ms (missed cycles : 2).[0m +310.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.876133 ms (missed cycles : 6).[0m +311.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831274 ms (missed cycles : 4).[0m +312.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145620 ms (missed cycles : 3).[0m +313.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909301.22894526 seconds +313.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222699 ms (missed cycles : 4).[0m +313.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909301.82096267 seconds. +314.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225034 ms (missed cycles : 2).[0m +315.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909303.55111766 seconds +315.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843589 ms (missed cycles : 2).[0m +315.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909304.10312700 seconds. +316.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909304.53328109 seconds +316.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588914 ms (missed cycles : 4).[0m +316.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +317.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348669 ms (missed cycles : 2).[0m +318.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990142 ms (missed cycles : 2).[0m +319.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719603 ms (missed cycles : 2).[0m +320.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.718868 ms (missed cycles : 6).[0m +321.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423741 ms (missed cycles : 3).[0m +322.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789064 ms (missed cycles : 2).[0m +322.74sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.75sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.76sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.76sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +322.79sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.79sERRORweb_video_auth_proxy-36process has died [pid 9537, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +322.80sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.80sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.81sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +322.84sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.84sERRORweb_bridge_auth_proxy-35process has died [pid 9536, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +322.84sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.85sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.85sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.86sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.86sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.88sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.89sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.89sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.89sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.90sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.90sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.91sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.91sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.92sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.92sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.93sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.93sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +322.95sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +322.98sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +323.00sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +323.02sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +323.04sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +323.05sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +323.07sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +323.10sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +323.13sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +323.16sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +323.19sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +323.22sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +323.24sINFOweb_video_server-34process has finished cleanly [pid 9533] +323.24sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9532] +323.25sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +323.29sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +323.31sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +323.33sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +323.34sERRORmove_group-22process has died [pid 9494, 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_800bcatn --params-file /tmp/launch_params_0q5xfcjs --params-file /tmp/launch_params_e8w76ys0 --params-file /tmp/launch_params_2c9bgvh9 --params-file /tmp/launch_params_2omwyn5f --params-file /tmp/launch_params_yz_plq8p']. +323.34sERRORui_teleop_bridge-31process has died [pid 9530, 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_0g_j36qd']. +323.36sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +323.37sINFOcomponent_container_mt-29process has finished cleanly [pid 9526] +323.38sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +323.41sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +323.41sINFOexecute_objective_bridge-30process has finished cleanly [pid 9528] +323.43sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +323.45sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +323.47sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +323.48sERRORobjective_server_node_main-27process has died [pid 9522, 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_cmauor07 --params-file /tmp/launch_params_v1lk_2ot --params-file /tmp/launch_params_i6nkrpc3 --params-file /tmp/launch_params_xhd7j9bd --params-file /tmp/launch_params_pw4fxio0 --params-file /tmp/launch_params_thoh42lq --params-file /tmp/launch_params_ta2rwqhh --params-file /tmp/launch_params_6xahnc55 --params-file /tmp/launch_params_g1gtprpq']. +323.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.50sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.50sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.50sERRORui_teleop_bridgeTraceback (most recent call last): +323.50sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.50sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.50sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.50sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main +323.50sINFOui_teleop_bridgerclpy.shutdown() +323.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.50sINFOui_teleop_bridge_shutdown(context=context) +323.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.50sINFOui_teleop_bridgecontext.shutdown() +323.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.50sINFOui_teleop_bridgeself.__context.shutdown() +323.50sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.51sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.51sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.51sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 16:08:31.335] signal_handler(SIGINT/SIGTERM)[0m +323.51sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.51sINFOcomponent_container_mtStopping planning scene monitor[0m +323.51sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.51sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.51sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +323.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.52sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.52sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.52sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.52sERRORmove_groupStack trace (most recent call last) in thread 10161: +323.52sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.52sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb34dfc3a63, in __clone +323.52sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb34df36aa3, in +323.52sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb34e1c8db3, in +323.52sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb34e90bed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.52sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb34e53b4d0, in rclcpp::Rate::sleep() +323.52sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb34e48ea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.52sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb34e453a71, in +323.52sINFOobjective_server_node[2026-07-24 16:08:31.475] [moveit_pro_license] [info] +323.52sINFOobjective_server_node* Application has successfully terminated +323.52sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb34e197390, in __cxa_throw +323.52sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb34e181a54, in std::terminate() +323.52sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb34e1970d9, in +323.52sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb34e181ff4, in +323.52sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb34dec28fe, in abort +323.52sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb34dedf27d, in raise +323.52sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb34df38b2c, in pthread_kill +323.52sERRORmove_groupAborted (Signal sent by tkill() 9494 0) +323.52sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.52sINFOros2_control_nodeShutdown request received....[0m +323.52sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.52sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.52sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.52sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.52sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.52sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.52sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.52sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.52sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.52sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.52sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.52sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.52sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.52sINFOros2_control_nodeShutting down the controller manager.[0m +323.52sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.52sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 +323.52sERRORobjective_server_nodeStack trace (most recent call last): +323.53sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.53sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abb86a4, in _start +323.53sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc4787c28a, in __libc_start_main +323.53sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc4787c1d0, in +323.53sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc47899bbd, in exit +323.53sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc47899a75, in +323.53sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fbc47d688f5, in spdlog::details::registry::~registry() +323.53sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abb8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.53sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abbf315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.53sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abbe5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.53sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abbab7b, in spdlog_ros::RosSink::~RosSink() +323.53sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56322abb8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.53sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc4841e454, in rclcpp::Node::~Node() +323.53sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc483d9515, in +323.53sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc4841cd20, in +323.53sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc4841cc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.53sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc483d95d9, in +323.53sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbc483de161, in rclcpp::CallbackGroup::~CallbackGroup() +323.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fbc144e2090]) +323.53sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.53sERRORodom_qos_relay.pyTraceback (most recent call last): +323.53sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +323.53sINFOodom_qos_relay.pymain() +323.53sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +323.53sINFOodom_qos_relay.pyrclpy.spin(node) +323.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.53sINFOodom_qos_relay.pyexecutor.spin_once() +323.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.53sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.53sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.53sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.53sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.53sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.53sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.53sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.54sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +323.54sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.54sERRORodom_world_drift.pyTraceback (most recent call last): +323.54sINFOodom_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> +323.54sINFOodom_world_drift.pymain() +323.54sINFOodom_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 +323.54sINFOodom_world_drift.pyrclpy.spin(node) +323.54sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.54sINFOodom_world_drift.pyexecutor.spin_once() +323.54sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.54sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.54sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.54sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.54sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.54sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.54sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.54sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.54sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.54sINFOodom_world_drift.pyraise ExternalShutdownException() +323.54sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +323.54sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +323.54sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.54sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.54sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 +324.19sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9520] +324.22sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9519] +324.29sINFOwaypoint_manager_node-24process has finished cleanly [pid 9518] +324.29sINFOparameter_manager_node-23process has finished cleanly [pid 9495] +324.36sINFOcomponent_container_mt-28process has finished cleanly [pid 9523] +324.39sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9402] +324.41sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9401] +324.43sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9403] +324.47sINFOslip_aware_odom-4process has finished cleanly [pid 9398] +324.48sERRORodom_qos_relay.py-6process has died [pid 9400, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +324.51sINFOstatic_transform_publisher-2process has finished cleanly [pid 9396] +325.45sINFOamcl_odom_gate-5process has finished cleanly [pid 9399] +325.54sERRORodom_world_drift.py-3process has died [pid 9397, 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_y3dflg5_']. +325.80sINFOweb_bridge-32process has finished cleanly [pid 9531] +325.80sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +326.11sINFOros2_control_node-10process has finished cleanly [pid 9482] +327.75sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +327.77sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +327.78sERRORcomponent_container_isolated-1process has died [pid 9395, 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_5_m26l51 --params-file /tmp/launch_params_q5t5rdwf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +335.95sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-24-16-08-41-001391-46de4571a4bd-13496 ×2 +348.56sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +348.65sINFOstate_estimatorReceived a set_pose request (stamp: 1784909336878231487, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +348.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +348.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +348.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +348.74sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +348.76sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +348.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +348.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +348.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +348.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +348.82sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +348.86sINFOcontroller_managerupdate rate is 600 Hz +348.86sINFOcontroller_managerOverruns handling is : enabled +348.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +348.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +348.88sINFOros2_control_node-10process started with pid [13633] ×2 +348.88sINFOmove_group-22process started with pid [13652] ×2 +348.88sINFOparameter_manager_node-23process started with pid [13653] ×2 +348.88sINFOwaypoint_manager_node-24process started with pid [13673] ×2 +348.89sINFOmove_joint_resampler_node-25process started with pid [13674] ×2 +348.89sINFOmove_end_effector_resampler_node-26process started with pid [13675] ×2 +348.89sINFOobjective_server_node_main-27process started with pid [13676] ×2 +348.89sINFOcomponent_container_mt-28process started with pid [13677] ×2 +348.89sINFOcomponent_container_mt-29process started with pid [13678] ×2 +348.89sINFOexecute_objective_bridge-30process started with pid [13679] ×2 +348.89sINFOui_teleop_bridge-31process started with pid [13680] ×2 +348.89sINFOweb_bridge-32process started with pid [13681] ×2 +348.89sINFOtf2_web_republisher_node-33process started with pid [13682] ×2 +348.89sINFOweb_video_server-34process started with pid [13683] ×2 +348.89sINFOweb_bridge_auth_proxy-35process started with pid [13702] ×2 +348.89sINFOweb_video_auth_proxy-36process started with pid [13703] ×2 +348.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588708 ms (missed cycles : 2). +348.90sINFOcomponent_container_isolated-1process started with pid [13546] ×2 +348.90sINFOstatic_transform_publisher-2process started with pid [13547] ×2 +348.90sINFOodom_world_drift.py-3process started with pid [13548] ×2 +348.90sINFOslip_aware_odom-4process started with pid [13549] ×2 +348.90sINFOamcl_odom_gate-5process started with pid [13550] ×2 +348.90sINFOodom_qos_relay.py-6process started with pid [13551] ×2 +348.90sINFOscan_to_scan_filter_chain-7process started with pid [13552] ×2 +348.90sINFOscan_to_scan_filter_chain-8process started with pid [13553] ×2 +348.90sINFOfixed_lag_smoother_node-9process started with pid [13554] ×2 +348.90sINFOros2-11process started with pid [13634] ×2 +348.90sINFOros2-12process started with pid [13636] ×2 +348.90sINFOros2-13process started with pid [13637] ×2 +348.90sINFOros2-14process started with pid [13638] ×2 +348.90sINFOros2-15process started with pid [13639] ×2 +348.90sINFOros2-16process started with pid [13640] ×2 +348.90sINFOros2-17process started with pid [13643] ×2 +348.90sINFOros2-18process started with pid [13644] ×2 +348.90sINFOros2-19process started with pid [13646] ×2 +348.90sINFOros2-20process started with pid [13647] ×2 +348.90sINFOros2-21process started with pid [13650] ×2 +348.94sINFOcontroller_serverCreating controller server +348.98sINFOlocal_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. +348.99sINFOlocal_costmap.local_costmapCreating Costmap +349.00sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +349.00sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +349.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +349.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +349.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588708 ms (missed cycles : 2).[0m ×2 +349.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +349.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +349.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +349.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +349.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +349.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +349.13sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.13sINFOmap_serverCreating +349.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +349.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +349.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +349.16sINFOrobot_state_publisherRobot initialized +349.16sINFOcontroller_managerReceived robot description from topic. +349.16sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +349.19sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.20sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +349.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +349.23sINFOsmoother_serverCreating smoother server +349.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +349.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +349.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +349.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +349.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +349.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +349.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +349.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +349.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +349.44sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.47sINFOplanner_serverCreating +349.51sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.51sINFOglobal_costmap.global_costmapCreating Costmap +349.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +349.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +349.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +349.56sINFOlifecycle_manager_localizationCreating +349.57sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +349.57sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +349.57sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +349.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +349.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +349.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +349.58sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +349.59sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +349.59sINFOmap_serverConfiguring +349.61sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.65sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +349.65sINFOamclConfiguring +349.66sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +349.66sINFOmap_serverActivating +349.66sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.411258 seconds +349.66sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +349.66sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +349.66sINFOmap_serverCreating bond (map_server) to lifecycle manager. +349.67sINFOmove_groupLoaded robot model in 0.411258 seconds[0m ×2 +349.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +349.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +349.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +349.77sINFOlifecycle_manager_localizationServer map_server connected with bond. +349.77sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +349.77sINFOamclActivating +349.77sINFOamclSubscribed to initial_pose_topic: /initialpose +349.78sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +349.80sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.81sINFOamclSubscribed to map_topic: /map +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +349.82sINFOamclSubscribed to scan_topic: /scan_merged +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +349.82sINFOamclCreated reinitialize_global_localization service +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +349.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +349.82sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +349.82sINFOamclCreated request_nomotion_update service +349.82sINFOamclA new map was received +349.82sINFOamclInitializing particle filter instance +349.85sINFObt_navigatorCreating +349.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +349.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +349.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +349.91sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874937 ms (missed cycles : 2). +349.92sINFOwaypoint_followerCreating +349.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874937 ms (missed cycles : 2).[0m ×2 +349.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +349.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +349.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +349.99sINFOvelocity_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. +350.03sINFOlifecycle_manager_navigationCreating +350.04sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +350.07sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +350.07sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +350.07sINFOcontroller_serverConfiguring controller interface +350.07sINFOcontroller_servergetting progress checker plugins.. +350.07sINFOcontroller_servergetting goal checker plugins.. +350.07sINFOcontroller_serverController frequency set to 20.0000Hz +350.07sINFOlocal_costmap.local_costmapConfiguring +350.08sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +350.10sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +350.14sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +350.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +350.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +350.22sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +350.22sINFOcontroller_serverController Server has progress_checker progress checkers available. +350.22sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +350.24sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.24sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +350.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +350.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +350.29sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +350.29sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +350.30sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +350.30sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +350.31sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +350.31sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +350.32sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +350.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +350.32sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +350.32sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +350.33sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +350.33sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +350.33sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +350.33sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +350.33sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +350.33sINFOcontroller_serverOptimizer reset +350.34sINFOcontroller_serverController Server has FollowPath controllers available. +350.35sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +350.35sINFOsmoother_serverConfiguring smoother server +350.37sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +350.39sINFOamclParticle filter initialization completed +350.39sINFOamclInitializing particles from estimated pose and covariance +350.39sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +350.39sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +350.41sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +350.41sINFOplanner_serverConfiguring +350.41sINFOglobal_costmap.global_costmapConfiguring +350.42sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +350.43sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +350.44sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +350.44sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +350.44sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +350.48sINFOlifecycle_manager_localizationServer amcl connected with bond. +350.48sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +350.48sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +350.49sINFOamclThe bond connection to the lifecycle manager is now fully formed +350.49sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +350.49sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +350.50sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +350.55sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +350.55sINFOplanner_serverCleaning up +350.55sINFOglobal_costmap.global_costmapCleaning up +350.56sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +350.62sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +350.62sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +350.71sINFOmove_group[2026-07-24 16:08:58.936] [moveit_pro_license] [info] ×2 +350.83sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +350.87sINFOwaypoint_manager_nodeLoaded robot model in 0.458748 seconds[0m ×2 +350.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334373 ms (missed cycles : 2). +350.94sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +350.94sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +350.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334373 ms (missed cycles : 2).[0m ×2 +351.24sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +351.24sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +351.24sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +351.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +351.24sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +351.25sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +351.25sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +351.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +351.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +351.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +351.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +351.40sWARNwaypoint_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. +351.40sWARNwaypoint_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. +351.40sWARNwaypoint_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. +351.40sWARNwaypoint_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. +351.41sWARNwaypoint_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. +351.41sWARNwaypoint_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. +351.41sWARNwaypoint_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. +351.41sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.42sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.43sWARNwaypoint_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. +351.66sINFOwaypoint_manager_node[2026-07-24 16:08:59.887] [moveit_pro_license] [info] ×2 +351.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +351.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. +351.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +351.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +351.84sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +351.84sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +351.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +351.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' +351.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +352.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +352.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911839 ms (missed cycles : 2). +352.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911839 ms (missed cycles : 2).[0m ×2 +352.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +352.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +352.11sINFOobjective_server_node[2026-07-24 16:09:00.329] [moveit_pro_license] [info] ×2 +352.18sINFOobjective_server_nodeLoaded robot model in 0.0266113 seconds[0m ×2 +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +352.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +352.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +352.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +352.51sINFOros2_control_node[2026-07-24 16:09:00.736] [info] Controller state will be published at 20 Hz. ×2 +352.52sINFOros2_control_node[2026-07-24 16:09:00.738] [info] JointVelocityController 'on_configure' succeeded. ×2 +352.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +352.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +352.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +352.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_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. +352.61sWARNobjective_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. +352.61sWARNobjective_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. +352.61sWARNobjective_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. +352.61sWARNobjective_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. +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +352.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +352.74sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +352.79sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +352.79sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +352.80sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +352.80sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +352.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +352.85sINFOmove_groupMoveGroup debug mode is ON +352.87sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +352.91sINFOros2-20process has finished cleanly [pid 13647] ×2 +352.92sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +352.92sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +352.92sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +352.93sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +352.93sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +352.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +352.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +352.99sINFOcomponent_container_mtLoaded robot model in 0.425753 seconds[0m ×2 +352.99sINFOforce_torque_sensor_broadcasterconfigure successful +353.03sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+353.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034021 ms (missed cycles : 2). +353.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034021 ms (missed cycles : 2).[0m ×2 +353.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +353.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +353.08sINFOstreaming_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) +353.15sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909340.252 for reason 'discarding message because the queue is full' +353.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +353.20sINFOcontroller_managerSuccessfully switched controllers! ×8 +353.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +353.58sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +353.58sINFOros2-11process has finished cleanly [pid 13634] ×2 +353.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +353.59sINFOcontroller_managerLoading controller 'velocity_force_controller' +353.65sINFOcomponent_container_mt[2026-07-24 16:09:01.877] [moveit_pro_license] [info] ×2 +353.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +353.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +353.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +353.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +354.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174896 ms (missed cycles : 3). +354.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174896 ms (missed cycles : 3).[0m ×2 +354.11sINFOros2_control_node[2026-07-24 16:09:02.329] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +354.11sINFOros2_control_node[2026-07-24 16:09:02.333] [info] Controller state will be published at 10 Hz. ×2 +354.11sINFOros2_control_node[2026-07-24 16:09:02.335] [info] VelocityForceController 'on_configure' succeeded. ×2 +354.46sINFOros2-18process has finished cleanly [pid 13644] ×2 +354.49sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +354.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.50sINFOcontroller_managerLoading controller 'platform_velocity_controller' +354.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +354.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +354.53sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +354.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +354.54sINFOplatform_velocity_controllerconfigure successful +354.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +354.56sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +355.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +355.05sINFOcontroller_managerLoading controller 'vacuum_gripper' +355.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +355.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +355.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +355.08sINFOros2-14process has finished cleanly [pid 13638] ×2 +355.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351161 ms (missed cycles : 3). +355.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351161 ms (missed cycles : 3).[0m ×2 +355.12sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +355.12sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +355.12sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +355.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +355.14sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +355.51sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +355.52sINFOros2-15process has finished cleanly [pid 13639] ×2 +355.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +355.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +355.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +355.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +355.74sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909342.852 for reason 'discarding message because the queue is full' +355.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +355.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +355.81sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +355.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +355.82sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +355.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +355.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +356.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737767 ms (missed cycles : 2). +356.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737767 ms (missed cycles : 2).[0m ×2 +356.14sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +356.14sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +356.14sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +356.15sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +356.18sINFOros2-17process has finished cleanly [pid 13643] ×2 +356.21sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +356.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +356.22sINFOplatform_velocity_controller_nav2configure successful +356.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +356.65sINFOros2-16process has finished cleanly [pid 13640] ×2 +356.65sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +356.65sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +356.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +356.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +356.69sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +356.69sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +356.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +356.70sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +357.07sINFOros2-12process has finished cleanly [pid 13636] ×2 +357.10sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +357.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +357.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +357.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +357.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +357.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +357.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +357.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +357.14sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +357.14sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +357.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +357.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +357.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529653 ms (missed cycles : 3). +357.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529653 ms (missed cycles : 3).[0m ×2 +357.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.250ms +357.45sINFOros2-13process has finished cleanly [pid 13637] ×2 +357.49sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +357.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +357.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +357.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +357.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +357.54sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +357.54sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +357.94sINFOros2_control_node[2026-07-24 16:09:06.158] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +357.94sINFOros2_control_node[2026-07-24 16:09:06.161] [info] Controller state will be published at 10 Hz. ×2 +357.94sINFOros2_control_node[2026-07-24 16:09:06.162] [info] VelocityForceController 'on_configure' succeeded. ×2 +358.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840608 ms (missed cycles : 2). +358.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840608 ms (missed cycles : 2).[0m ×2 +358.26sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909345.352 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +358.33sINFOros2-19process has finished cleanly [pid 13646] ×2 +358.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +358.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +358.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx +358.42sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0_0nubf --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_dcz4lss_ --params-file /tmp/launch_params_foe30wnx [0m ×2 +358.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +358.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +358.85sINFOros2_control_node[2026-07-24 16:09:07.075] [info] Controller state will be published at 20 Hz. ×2 +358.85sINFOros2_control_node[2026-07-24 16:09:07.077] [info] JointVelocityController 'on_configure' succeeded. ×2 +359.19sINFOros2-21process has finished cleanly [pid 13650] ×2 +359.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335360 ms (missed cycles : 3). +359.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335360 ms (missed cycles : 3).[0m ×2 +360.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4). +360.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4).[0m ×2 +361.16sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns +361.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). +361.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 +362.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +362.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). +362.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 +363.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). +363.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 +364.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 +364.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +364.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +364.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 +364.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). +364.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 +364.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 +364.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 +365.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 +365.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 +365.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). +365.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 +365.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 +365.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +365.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +365.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +366.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +366.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +366.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +366.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 +366.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). +366.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 +366.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 +366.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +366.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +366.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 112 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 22 warnings · 106 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4).[0m ×2 + 0.91sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 1.74sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 5.72sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561537 ms (missed cycles : 4).[0m ×2 + 0.91sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 1.74sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 5.72sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 3607089ns + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261850 ms (missed cycles : 2).[0m ×2 + 0.83sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805599 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909352.30352736 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909352.31379056 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692312 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909352.87888861 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909352.89920044 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909353.45659065 seconds. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909353.60722208 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589217 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909354.18591809 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 + 3.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 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 ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909354.23607516 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926120 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909354.80452061 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580340 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895823 ms (missed cycles : 5).[0m ×2 | ||||