69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.4s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.5s | 6 errors · 115 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.511ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.052ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909491.37779236 seconds ×3 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909491.93300653 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms ×2 + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 6.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.551ms + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms ×3 + 7.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784926 ms (missed cycles : 6). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784926 ms (missed cycles : 6).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638303 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638303 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273398 ms (missed cycles : 7). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273398 ms (missed cycles : 7).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.550ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016951 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016951 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 11.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.394ms + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907965 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907965 ms (missed cycles : 3).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186012 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186012 ms (missed cycles : 2).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.467ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292019 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292019 ms (missed cycles : 4).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.312ms + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.389ms ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911016 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911016 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.416ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835023 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835023 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453978 ms (missed cycles : 6). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453978 ms (missed cycles : 6).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.322ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085772 ms (missed cycles : 4). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085772 ms (missed cycles : 4).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887075 ms (missed cycles : 3). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887075 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645400 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645400 ms (missed cycles : 2).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109391 ms (missed cycles : 5). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109391 ms (missed cycles : 5).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.422ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443066 ms (missed cycles : 4). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443066 ms (missed cycles : 4).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951778 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951778 ms (missed cycles : 2).[0m ×2 + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.783ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.685862 ms (missed cycles : 6). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.685862 ms (missed cycles : 6).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.635ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.941ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.699ms + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.073ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569143 ms (missed cycles : 3). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569143 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.779ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269179 ms (missed cycles : 4). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269179 ms (missed cycles : 4).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938690 ms (missed cycles : 3). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938690 ms (missed cycles : 3).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.940ms + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.823ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735984 ms (missed cycles : 5). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735984 ms (missed cycles : 5).[0m ×2 + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811575 ms (missed cycles : 4). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811575 ms (missed cycles : 4).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.401ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935415 ms (missed cycles : 3). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935415 ms (missed cycles : 3).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.580ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.105ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946729 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946729 ms (missed cycles : 2).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328052 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328052 ms (missed cycles : 2).[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650549 ms (missed cycles : 3). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650549 ms (missed cycles : 3).[0m ×2 + 33.50sWARNstate_estimatorOptimization exceeded the configured duration by 76776392ns + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851992 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851992 ms (missed cycles : 2).[0m ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747067 ms (missed cycles : 3). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747067 ms (missed cycles : 3).[0m ×2 + 36.28sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.28sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909523.85330033 seconds ×3 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300200 ms (missed cycles : 4). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300200 ms (missed cycles : 4).[0m ×2 + 36.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 36.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909524.52840590 seconds. ×3 + 37.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 37.33sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 37.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693084 ms (missed cycles : 3). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693084 ms (missed cycles : 3).[0m ×2 + 37.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 37.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 38.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 38.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161934 ms (missed cycles : 3). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161934 ms (missed cycles : 3).[0m ×2 + 38.80sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 39.08sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.337ms + 39.18sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.317ms + 39.39sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.058ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.9s | 9 errors · 109 warnings · 213 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.241ms + 0.20sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.600ms + 0.49sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 3.020ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109891 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109891 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.989ms + 1.08sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.941ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.671ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211716 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211716 ms (missed cycles : 2).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879953 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879953 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 3.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806360 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806360 ms (missed cycles : 3).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGot request to cancel goal + 3.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.86sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909534.76294899 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 4.45sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909535.31911421 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (1.44e-06 s). ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686508 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686508 ms (missed cycles : 3).[0m ×2 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 5.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670988 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670988 ms (missed cycles : 4).[0m ×2 + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401275 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401275 ms (missed cycles : 4).[0m ×2 + 6.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673706 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673706 ms (missed cycles : 2).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.445317 ms (missed cycles : 7). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.445317 ms (missed cycles : 7).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.187ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.557ms + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202910 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202910 ms (missed cycles : 4).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809561 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809561 ms (missed cycles : 2).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100975 ms (missed cycles : 5). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100975 ms (missed cycles : 5).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569276 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569276 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 13.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963281 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963281 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240199 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240199 ms (missed cycles : 2).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599581 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599581 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms ×2 + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985779 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985779 ms (missed cycles : 5).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.677902 ms (missed cycles : 6). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.677902 ms (missed cycles : 6).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686596 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686596 ms (missed cycles : 2).[0m ×2 + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284321 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284321 ms (missed cycles : 2).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662675 ms (missed cycles : 6). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662675 ms (missed cycles : 6).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825761 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825761 ms (missed cycles : 3).[0m ×2 + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888726 ms (missed cycles : 3). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888726 ms (missed cycles : 3).[0m ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.794ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631760 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631760 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050843 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050843 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390297 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390297 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392981 ms (missed cycles : 3). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392981 ms (missed cycles : 3).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.894ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100081 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100081 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.472ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783405 ms (missed cycles : 3). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783405 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.108ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 30.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 33.41sINFOjoint_trajectory_controllerGoal reached, success! + 33.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.58sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 33.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 33.79sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.80sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 34.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 34.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 34.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 34.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 34.76sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 34.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 35.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 35.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 35.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 35.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 35.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 35.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 36.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 36.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 36.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 184 warnings · 252 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909397.62282538 seconds ×3 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6).[0m ×2 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 4.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909398.18700099 seconds. ×3 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964606 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964606 ms (missed cycles : 3).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496532 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496532 ms (missed cycles : 3).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363712 ms (missed cycles : 4). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363712 ms (missed cycles : 4).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649222 ms (missed cycles : 6). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649222 ms (missed cycles : 6).[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720372 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720372 ms (missed cycles : 3).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 12.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.480ms + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610982 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610982 ms (missed cycles : 3).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 12.42sINFOros2_control_nodeMuJoCo sim: 0.51% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734577 ms (missed cycles : 5). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734577 ms (missed cycles : 5).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441008 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441008 ms (missed cycles : 2).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719147 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719147 ms (missed cycles : 3).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481582 ms (missed cycles : 4). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481582 ms (missed cycles : 4).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995758 ms (missed cycles : 5). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995758 ms (missed cycles : 5).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510806 ms (missed cycles : 3). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510806 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571691 ms (missed cycles : 3). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571691 ms (missed cycles : 3).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916326 ms (missed cycles : 5). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916326 ms (missed cycles : 5).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms ×3 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773581 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773581 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102863 ms (missed cycles : 4). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102863 ms (missed cycles : 4).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980795 ms (missed cycles : 6). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980795 ms (missed cycles : 6).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743838 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743838 ms (missed cycles : 3).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.300ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076102 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076102 ms (missed cycles : 2).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871209 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871209 ms (missed cycles : 2).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731401 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731401 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.674ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520717 ms (missed cycles : 3). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520717 ms (missed cycles : 3).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.432ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.237877 ms (missed cycles : 7). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.237877 ms (missed cycles : 7).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406518 ms (missed cycles : 2). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406518 ms (missed cycles : 2).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.309ms + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.579914 ms (missed cycles : 6). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.579914 ms (missed cycles : 6).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806185 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806185 ms (missed cycles : 3).[0m ×2 + 34.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.463ms + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.604ms + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148348 ms (missed cycles : 5). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148348 ms (missed cycles : 5).[0m ×2 + 35.13sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.01sWARNstate_estimatorOptimization exceeded the configured duration by 69259264ns + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959578 ms (missed cycles : 3). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959578 ms (missed cycles : 3).[0m ×2 + 36.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.335ms + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265069 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265069 ms (missed cycles : 2).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651508 ms (missed cycles : 3). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651508 ms (missed cycles : 3).[0m ×2 + 38.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508408 ms (missed cycles : 4). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508408 ms (missed cycles : 4).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027681 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027681 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878829 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878829 ms (missed cycles : 2).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.649ms + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009848 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009848 ms (missed cycles : 2).[0m ×2 + 42.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.531776 ms (missed cycles : 7). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.531776 ms (missed cycles : 7).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402798 ms (missed cycles : 3). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402798 ms (missed cycles : 3).[0m ×2 + 44.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.868ms + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668769 ms (missed cycles : 6). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668769 ms (missed cycles : 6).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274979 ms (missed cycles : 4). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274979 ms (missed cycles : 4).[0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818164 ms (missed cycles : 2). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818164 ms (missed cycles : 2).[0m ×2 + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229183 ms (missed cycles : 4). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229183 ms (missed cycles : 4).[0m ×2 + 48.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843859 ms (missed cycles : 5). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843859 ms (missed cycles : 5).[0m ×2 + 49.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479782 ms (missed cycles : 3). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479782 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016506 ms (missed cycles : 6). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016506 ms (missed cycles : 6).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.758471 ms (missed cycles : 6). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.758471 ms (missed cycles : 6).[0m ×2 + 52.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465605 ms (missed cycles : 4). + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465605 ms (missed cycles : 4).[0m ×2 + 54.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673793 ms (missed cycles : 5). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673793 ms (missed cycles : 5).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 55.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 55.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031586 ms (missed cycles : 2). + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031586 ms (missed cycles : 2).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705731 ms (missed cycles : 2). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705731 ms (missed cycles : 2).[0m ×2 + 57.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 57.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 58.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 58.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 58.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 59.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 60.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 61.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 61.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 61.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 61.62sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 61.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 61.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 61.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 62.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 62.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 62.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 62.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 63.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 63.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 6 errors · 182 warnings · 236 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.44sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.605ms + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.449ms + 7.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 7.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.564ms + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258557 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258557 ms (missed cycles : 4).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.897ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787795 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787795 ms (missed cycles : 2).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.576ms + 9.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.855ms + 9.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.542ms + 9.51sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 4.438ms + 9.70sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.885ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284215 ms (missed cycles : 5). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284215 ms (missed cycles : 5).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.216ms + 10.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 4.391ms + 10.43sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.815ms + 10.61sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.212ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.749ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817430 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817430 ms (missed cycles : 2).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms ×2 + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms ×2 + 11.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms ×2 + 11.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968487 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968487 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150710 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150710 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838092 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838092 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860752 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860752 ms (missed cycles : 2).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971513 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971513 ms (missed cycles : 3).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125692 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125692 ms (missed cycles : 3).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 9.653ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593532 ms (missed cycles : 6). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593532 ms (missed cycles : 6).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003055 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003055 ms (missed cycles : 2).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829955 ms (missed cycles : 3). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829955 ms (missed cycles : 3).[0m ×2 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524768 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524768 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.536ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.411ms + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596233 ms (missed cycles : 3). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596233 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.459ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978221 ms (missed cycles : 6). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978221 ms (missed cycles : 6).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.479ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005908 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005908 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.491ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.539ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779789 ms (missed cycles : 3). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779789 ms (missed cycles : 3).[0m ×2 + 25.53sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms ×2 + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476388 ms (missed cycles : 2). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476388 ms (missed cycles : 2).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.842ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.768ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.750ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481821 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481821 ms (missed cycles : 3).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001796 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001796 ms (missed cycles : 3).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.854ms + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988824 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988824 ms (missed cycles : 2).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.670ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms ×2 + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.798339 ms (missed cycles : 6). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.798339 ms (missed cycles : 6).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.596ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051373 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051373 ms (missed cycles : 2).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068805 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068805 ms (missed cycles : 2).[0m ×2 + 33.41sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618441 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618441 ms (missed cycles : 3).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.450928 ms (missed cycles : 6). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.450928 ms (missed cycles : 6).[0m ×2 + 36.32sWARNstate_estimatorOptimization exceeded the configured duration by 70696729ns + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905397 ms (missed cycles : 2). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905397 ms (missed cycles : 2).[0m ×2 + 37.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 37.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328899 ms (missed cycles : 4). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328899 ms (missed cycles : 4).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606897 ms (missed cycles : 2). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606897 ms (missed cycles : 2).[0m ×2 + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999107 ms (missed cycles : 4). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999107 ms (missed cycles : 4).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.502ms + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655071 ms (missed cycles : 4). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655071 ms (missed cycles : 4).[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201842 ms (missed cycles : 5). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201842 ms (missed cycles : 5).[0m ×2 + 43.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912038 ms (missed cycles : 2). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912038 ms (missed cycles : 2).[0m ×2 + 43.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979793 ms (missed cycles : 2). + 44.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979793 ms (missed cycles : 2).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197227 ms (missed cycles : 4). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197227 ms (missed cycles : 4).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659627 ms (missed cycles : 3). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659627 ms (missed cycles : 3).[0m ×2 + 46.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.094ms + 46.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.084ms + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521732 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521732 ms (missed cycles : 3).[0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549940 ms (missed cycles : 3). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549940 ms (missed cycles : 3).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834443 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834443 ms (missed cycles : 2).[0m ×2 + 49.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.407ms + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.878ms + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946574 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946574 ms (missed cycles : 2).[0m ×2 + 50.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 51.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505272 ms (missed cycles : 3). + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505272 ms (missed cycles : 3).[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608138 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608138 ms (missed cycles : 3).[0m ×2 + 53.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009416 ms (missed cycles : 5). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009416 ms (missed cycles : 5).[0m ×2 + 53.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 54.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784777 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784777 ms (missed cycles : 2).[0m ×2 + 55.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.652ms + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669923 ms (missed cycles : 4). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669923 ms (missed cycles : 4).[0m ×2 + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830589 ms (missed cycles : 2). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830589 ms (missed cycles : 2).[0m ×2 + 57.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445058 ms (missed cycles : 3). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445058 ms (missed cycles : 3).[0m ×2 + 58.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.809ms + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658478 ms (missed cycles : 2). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658478 ms (missed cycles : 2).[0m ×2 + 58.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909619.83720994 seconds ×3 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 59.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909620.41621900 seconds. ×3 + 59.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022933 ms (missed cycles : 6). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022933 ms (missed cycles : 6).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 59.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 59.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207666 ms (missed cycles : 4). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207666 ms (missed cycles : 4).[0m ×2 + 60.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 61.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168730 ms (missed cycles : 2). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168730 ms (missed cycles : 2).[0m ×2 + 61.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.650ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 149 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.29sINFOmove_groupClearing octomap...[0m ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.120ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495552 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495552 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349137 ms (missed cycles : 4). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349137 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751514 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751514 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857955 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857955 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022886 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022886 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706626 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706626 ms (missed cycles : 3).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575907 ms (missed cycles : 6). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575907 ms (missed cycles : 6).[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583784 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583784 ms (missed cycles : 3).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161078 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161078 ms (missed cycles : 2).[0m ×2 + 15.56sWARNstate_estimatorOptimization exceeded the configured duration by 2749033ns + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137439 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137439 ms (missed cycles : 4).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119984 ms (missed cycles : 7). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119984 ms (missed cycles : 7).[0m ×2 + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.856ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224518 ms (missed cycles : 4). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224518 ms (missed cycles : 4).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258726 ms (missed cycles : 5). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258726 ms (missed cycles : 5).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981214 ms (missed cycles : 3). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981214 ms (missed cycles : 3).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238557 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238557 ms (missed cycles : 2).[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959051 ms (missed cycles : 5). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959051 ms (missed cycles : 5).[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071040 ms (missed cycles : 2). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071040 ms (missed cycles : 2).[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306591 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306591 ms (missed cycles : 2).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675740 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675740 ms (missed cycles : 2).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841485 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841485 ms (missed cycles : 2).[0m ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642608 ms (missed cycles : 3). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642608 ms (missed cycles : 3).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257353 ms (missed cycles : 5). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257353 ms (missed cycles : 5).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278772 ms (missed cycles : 4). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278772 ms (missed cycles : 4).[0m ×2 + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996105 ms (missed cycles : 2). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996105 ms (missed cycles : 2).[0m ×2 + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645445 ms (missed cycles : 3). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645445 ms (missed cycles : 3).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845646 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845646 ms (missed cycles : 2).[0m ×2 + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122467 ms (missed cycles : 2). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122467 ms (missed cycles : 2).[0m ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614241 ms (missed cycles : 3). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614241 ms (missed cycles : 3).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584197 ms (missed cycles : 4). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584197 ms (missed cycles : 4).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943849 ms (missed cycles : 5). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943849 ms (missed cycles : 5).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437230 ms (missed cycles : 4). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437230 ms (missed cycles : 4).[0m ×2 + 40.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595216 ms (missed cycles : 6). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595216 ms (missed cycles : 6).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149566 ms (missed cycles : 2). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149566 ms (missed cycles : 2).[0m ×2 + 41.34sWARNstate_estimatorOptimization exceeded the configured duration by 684673578ns + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310246 ms (missed cycles : 4). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310246 ms (missed cycles : 4).[0m ×2 + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4).[0m ×2 + 46.71sINFOjoint_trajectory_controllerGoal reached, success! + 46.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 47.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 47.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 48.26sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 48.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 49.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.1s | 112 warnings · 185 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265525 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265525 ms (missed cycles : 4).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962762 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962762 ms (missed cycles : 4).[0m ×2 + 2.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.61sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909459.25922513 seconds ×3 + 3.21sWARNstate_estimatorOptimization exceeded the configured duration by 57794641ns + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954975 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954975 ms (missed cycles : 2).[0m ×2 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909460.82765245 seconds. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788490 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788490 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295197 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295197 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650009 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650009 ms (missed cycles : 6).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750648 ms (missed cycles : 6). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750648 ms (missed cycles : 6).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 8.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943372 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943372 ms (missed cycles : 2).[0m ×2 + 8.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648766 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648766 ms (missed cycles : 3).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 9.72sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603554 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603554 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723434 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723434 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 11.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.791552 ms (missed cycles : 7). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.791552 ms (missed cycles : 7).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895139 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895139 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.910ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987566 ms (missed cycles : 4).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms ×2 + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696500 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696500 ms (missed cycles : 3).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290129 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290129 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.546ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684616 ms (missed cycles : 3). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684616 ms (missed cycles : 3).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.422ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646682 ms (missed cycles : 6). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646682 ms (missed cycles : 6).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664965 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664965 ms (missed cycles : 3).[0m ×2 + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237956 ms (missed cycles : 3). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237956 ms (missed cycles : 3).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291179 ms (missed cycles : 4). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291179 ms (missed cycles : 4).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438019 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438019 ms (missed cycles : 2).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.453ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408444 ms (missed cycles : 2). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408444 ms (missed cycles : 2).[0m ×2 + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371575 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371575 ms (missed cycles : 2).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.720ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336163 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336163 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.485ms + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050062 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050062 ms (missed cycles : 2).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.642ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674063 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674063 ms (missed cycles : 2).[0m ×2 + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437879 ms (missed cycles : 3). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437879 ms (missed cycles : 3).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404574 ms (missed cycles : 3). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404574 ms (missed cycles : 3).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.511ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4).[0m ×2 + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.052ms + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2).[0m ×2 + 34.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909491.37779236 seconds ×3 + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 35.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909491.93300653 seconds. ×3 + 35.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 35.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 35.63sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 35.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 35.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 36.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 36.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 36.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 36.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3).[0m ×2 + 37.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 37.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.6s | 97 errors · 34 warnings · 459 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909632.94612193 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.081ms + 3.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.946ms + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909633.54144025 seconds. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 3.74sWARNstate_estimatorOptimization exceeded the configured duration by 1204284ns + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.484ms + 3.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909634.05157495 seconds ×3 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.979ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.746ms + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.685ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.136ms + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909634.60762405 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.099ms + 4.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.903ms + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.441ms + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909635.10779095 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.387ms + 5.29sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.349ms + 5.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.818ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.522ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694263 ms (missed cycles : 3). + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.849ms + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694263 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921959 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921959 ms (missed cycles : 3).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.811ms + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.781780 ms (missed cycles : 6). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.781780 ms (missed cycles : 6).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014898 ms (missed cycles : 6). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014898 ms (missed cycles : 6).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124595 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124595 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.557004 ms (missed cycles : 7). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.557004 ms (missed cycles : 7).[0m ×2 + 11.49sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 11.56sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORweb_video_auth_proxy-36process has died [pid 13779, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.56sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 11.59sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORweb_bridge_auth_proxy-35process has died [pid 13776, 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 + 11.59sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 11.66sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 11.69sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 11.71sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 11.73sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 11.76sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.78sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.81sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 11.84sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 11.86sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 11.89sINFOweb_video_server-34process has finished cleanly [pid 13757] ×2 + 11.90sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 11.93sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 11.96sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 11.97sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13756] ×2 + 11.97sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 12.00sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 12.00sINFOcontroller_managerShutdown request received.... + 12.00sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.00sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.00sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.00sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.00sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.00sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.00sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.00sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.00sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.00sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.00sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.00sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.00sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.00sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.00sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.00sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.00sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.00sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.00sINFOcontroller_managerShutting down the controller manager. + 12.02sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 12.05sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.05sERRORmove_group-22process has died [pid 13719, 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_oyjdjuzs --params-file /tmp/launch_params_yqn6a9xl --params-file /tmp/launch_params_9qc6m5am --params-file /tmp/launch_params_1kpibdyj --params-file /tmp/launch_params_lv7ctj71 --params-file /tmp/launch_params_8845c24w']. ×2 + 12.05sERRORui_teleop_bridge-31process has died [pid 13754, 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_gc1h6np9']. ×2 + 12.07sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.08sINFOcomponent_container_mt-29process has finished cleanly [pid 13752] ×2 + 12.10sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 12.12sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 12.12sINFOexecute_objective_bridge-30process has finished cleanly [pid 13753] ×2 + 12.14sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 12.14sERRORobjective_server_node_main-27process has died [pid 13750, 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_jhw5mp4o --params-file /tmp/launch_params__cx3dx4k --params-file /tmp/launch_params_ecl_960_ --params-file /tmp/launch_params_y4e2ew6a --params-file /tmp/launch_params_7z9dm0py --params-file /tmp/launch_params_3_piai7h --params-file /tmp/launch_params_u4ketatm --params-file /tmp/launch_params_0y_hb1wr --params-file /tmp/launch_params_kas09mhe']. ×2 + 12.16sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 12.18sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.21sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.21sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.21sINFOcontroller_serverCleaning up + 12.21sINFOlocal_costmap.local_costmapCleaning up + 12.21sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.21sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.21sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 12.21sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.21sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.21sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.21sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.21sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.21sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.22sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 16:14:01.870] signal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 12.22sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.22sERRORmove_groupStack trace (most recent call last) in thread 14369: ×2 + 12.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.23sINFOobjective_server_node[2026-07-24 16:14:02.033] [moveit_pro_license] [info] ×2 + 12.23sINFOobjective_server_node************************************************* ×4 + 12.23sINFOobjective_server_node* MoveIt Pro License ×2 + 12.23sINFOobjective_server_node* Application has successfully terminated ×2 + 12.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efd10054a63, in __clone ×2 + 12.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efd0ffc7aa3, in ×2 + 12.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efd10259db3, in ×2 + 12.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7efd1099ced7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efd105cc4d0, in rclcpp::Rate::sleep() ×2 + 12.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efd1051fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efd104e4a71, in ×2 + 12.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efd10228390, in __cxa_throw ×2 + 12.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efd10212a54, in std::terminate() ×2 + 12.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efd102280d9, in ×2 + 12.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efd10212ff4, in ×2 + 12.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efd0ff538fe, in abort ×2 + 12.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efd0ff7027d, in raise ×2 + 12.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efd0ffc9b2c, in pthread_kill ×2 + 12.23sERRORmove_groupAborted (Signal sent by tkill() 13719 0) ×2 + 12.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.23sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.23sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.23sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317ba6a4, in _start ×2 + 12.23sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd671a2428a, in __libc_start_main ×2 + 12.23sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd671a241d0, in ×2 + 12.23sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd671a41bbd, in exit ×2 + 12.24sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd671a41a75, in ×2 + 12.24sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd671f108f5, in spdlog::details::registry::~registry() ×2 + 12.24sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317bad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.24sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317c1315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.24sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317c05a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.24sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317bcb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.24sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5560317bad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.24sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6725c6454, in rclcpp::Node::~Node() ×2 + 12.24sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd672581515, in ×2 + 12.24sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6725c4d20, in ×2 + 12.24sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6725c4c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.24sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6725815d9, in ×2 + 12.24sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd672586161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.24sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd62180b090]) ×2 + 12.24sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.24sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.24sINFOodom_qos_relay.pymain() ×2 + 12.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.24sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.24sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.24sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.24sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.24sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.24sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.25sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.25sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 12.25sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.25sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 12.25sINFOodom_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 + 12.25sINFOodom_world_drift.pymain() ×2 + 12.25sINFOodom_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 + 12.25sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 12.25sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.25sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 12.25sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.25sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 12.25sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.25sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.25sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.25sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.25sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 12.25sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.25sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.25sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 12.25sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 12.25sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.25sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 12.25sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.25sINFOmap_serverDeactivating + 12.25sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.25sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.25sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.25sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.26sINFOmap_serverCleaning up + 12.26sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.26sINFOsmoother_serverCleaning up + 12.27sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 12.27sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.27sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 12.27sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.27sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.29sERRORamclThe bond connection to the lifecycle manager has been broken + 12.30sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 12.30sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.30sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 12.30sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.30sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 12.30sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.30sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 12.30sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.90sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13749] ×2 + 12.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909641.842 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.93sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13748] ×2 + 13.01sINFOparameter_manager_node-23process has finished cleanly [pid 13721] ×2 + 13.02sINFOwaypoint_manager_node-24process has finished cleanly [pid 13743] ×2 + 13.07sINFOcomponent_container_mt-28process has finished cleanly [pid 13751] ×2 + 13.10sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13627] ×2 + 13.12sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13626] ×2 + 13.13sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13628] ×2 + 13.19sINFOslip_aware_odom-4process has finished cleanly [pid 13623] ×2 + 13.19sERRORodom_qos_relay.py-6process has died [pid 13625, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.23sINFOstatic_transform_publisher-2process has finished cleanly [pid 13621] ×2 + 14.16sINFOamcl_odom_gate-5process has finished cleanly [pid 13624] ×2 + 14.25sERRORodom_world_drift.py-3process has died [pid 13622, 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_d0zlpl4r']. ×2 + 14.59sINFOweb_bridge-32process has finished cleanly [pid 13755] ×2 + 14.60sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 + 14.81sINFOros2_control_node-10process has finished cleanly [pid 13707] ×2 + 16.49sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.51sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.52sERRORcomponent_container_isolated-1process has died [pid 13620, 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_6q65onxm --params-file /tmp/launch_params_1u_2t8z6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.1s | 58 warnings · 154 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.652ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669923 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669923 ms (missed cycles : 4).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830589 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830589 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445058 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445058 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.809ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658478 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658478 ms (missed cycles : 2).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909619.83720994 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909620.41621900 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 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022933 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022933 ms (missed cycles : 6).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207666 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207666 ms (missed cycles : 4).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168730 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168730 ms (missed cycles : 2).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.650ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642699 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642699 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358567 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358567 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677980 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677980 ms (missed cycles : 3).[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 63 iterations (0.0436528 s). ×2 + 9.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720602 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720602 ms (missed cycles : 3).[0m ×2 + 10.78sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766071 ms (missed cycles : 6). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766071 ms (missed cycles : 6).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043926 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043926 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 16.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909632.94612193 seconds ×3 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.081ms + 17.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.946ms + 17.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909633.54144025 seconds. ×3 + 17.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.41sINFOmove_groupClearing octomap...[0m ×2 + 17.41sINFOmove_groupOctomap cleared.[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 17.64sWARNstate_estimatorOptimization exceeded the configured duration by 1204284ns + 17.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.484ms + 17.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909634.05157495 seconds ×3 + 17.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.979ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.746ms + 18.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.685ms + 18.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.136ms + 18.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909634.60762405 seconds. ×3 + 18.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.099ms + 18.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.903ms + 18.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.441ms + 18.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909635.10779095 seconds ×3 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.387ms + 19.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.349ms + 19.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.818ms + 19.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 9 errors · 55 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328052 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328052 ms (missed cycles : 2).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 0.86sINFOjoint_trajectory_controllerGoal reached, success! + 0.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650549 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650549 ms (missed cycles : 3).[0m ×2 + 1.05sWARNstate_estimatorOptimization exceeded the configured duration by 76776392ns + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851992 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851992 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747067 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747067 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.83sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909523.85330033 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300200 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300200 ms (missed cycles : 4).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909524.52840590 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 4.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693084 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693084 ms (missed cycles : 3).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161934 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161934 ms (missed cycles : 3).[0m ×2 + 6.35sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 6.63sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.337ms + 6.73sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.317ms + 6.94sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.058ms + 7.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.691ms + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.782995 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.782995 ms (missed cycles : 5).[0m ×2 + 7.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.439ms + 7.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.018ms + 8.03sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.672ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883972 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883972 ms (missed cycles : 2).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.017ms + 8.94sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 4.117ms + 9.24sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.031ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.637ms + 9.74sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.557ms + 9.93sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.976ms + 10.15sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.567ms + 10.43sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 3.274ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025905 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025905 ms (missed cycles : 2).[0m ×2 + 10.64sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 3.468ms + 10.85sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.241ms + 11.05sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.600ms + 11.34sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 3.020ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109891 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109891 ms (missed cycles : 2).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.989ms + 11.93sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.941ms + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.671ms + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211716 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211716 ms (missed cycles : 2).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879953 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879953 ms (missed cycles : 3).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.115ms + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806360 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806360 ms (missed cycles : 3).[0m ×2 + 14.71sINFOjoint_trajectory_controllerGot request to cancel goal + 14.71sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.71sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.71sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909534.76294899 seconds ×3 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 15.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909535.31911421 seconds. ×3 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 15.65sINFOobjective_server_nodeFound path in 0 iterations (1.44e-06 s). ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686508 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686508 ms (missed cycles : 3).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670988 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670988 ms (missed cycles : 4).[0m ×2 + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401275 ms (missed cycles : 4). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401275 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 37 warnings · 72 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265525 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265525 ms (missed cycles : 4).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962762 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962762 ms (missed cycles : 4).[0m ×2 + 7.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909459.25922513 seconds ×3 + 8.58sWARNstate_estimatorOptimization exceeded the configured duration by 57794641ns + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954975 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954975 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909460.82765245 seconds. ×3 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788490 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788490 ms (missed cycles : 3).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295197 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295197 ms (missed cycles : 2).[0m ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650009 ms (missed cycles : 6). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650009 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 30 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 + 6.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 7.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909397.62282538 seconds ×3 + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6).[0m ×2 + 7.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 7.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909398.18700099 seconds. ×3 + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 7.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4).[0m ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 22 warnings · 61 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909632.94612193 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.081ms + 4.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.946ms + 4.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909633.54144025 seconds. ×3 + 4.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.40sINFOmove_groupClearing octomap...[0m ×2 + 4.40sINFOmove_groupOctomap cleared.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 4.64sWARNstate_estimatorOptimization exceeded the configured duration by 1204284ns + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.484ms + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909634.05157495 seconds ×3 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.979ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.746ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.685ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.136ms + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909634.60762405 seconds. ×3 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.099ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.903ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.441ms + 5.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909635.10779095 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.387ms + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.349ms + 6.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.818ms + 6.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.522ms + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694263 ms (missed cycles : 3). + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.849ms + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694263 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 7.324289 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.29sINFOmove_groupClearing octomap...[0m ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal + 4.34sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147039 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880324 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664164 ms (missed cycles : 5).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909632.94612193 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112691 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.081ms + 4.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.946ms + 4.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909633.54144025 seconds. ×3 + 4.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.40sINFOmove_groupClearing octomap...[0m ×2 + 4.40sINFOmove_groupOctomap cleared.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.858ms + 4.64sWARNstate_estimatorOptimization exceeded the configured duration by 1204284ns + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.484ms + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909634.05157495 seconds ×3 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.979ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403150 ms (missed cycles : 4).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.746ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.685ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.136ms + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909634.60762405 seconds. ×3 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.099ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.903ms + 5.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.441ms + 5.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909635.10779095 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502472 ms (missed cycles : 5).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.387ms + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.349ms + 6.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.818ms + 6.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.793ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592362 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464903 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768555 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255190 ms (missed cycles : 4).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 67 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909393.96829677 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909394.52266073 seconds. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230453 ms (missed cycles : 4).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.2001e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351376 ms (missed cycles : 4).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553449 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909397.62282538 seconds ×3 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656280 ms (missed cycles : 6).[0m ×2 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 4.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909398.18700099 seconds. ×3 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295690 ms (missed cycles : 4).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150227 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal + 4.34sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal + 4.34sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal + 4.34sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010716 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650080 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.451ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614185 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909454.64716721 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625864 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909455.20906663 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal + 4.34sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569767 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241029 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.511ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.052ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909491.37779236 seconds ×3 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909491.93300653 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.511ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.052ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909491.37779236 seconds ×3 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909491.93300653 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.511ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.916ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164555 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875533 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.052ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556680 ms (missed cycles : 3).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307351 ms (missed cycles : 2).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909491.37779236 seconds ×3 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909491.93300653 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246444 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 22 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548603 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731054 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085470 ms (missed cycles : 5).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sWARNstate_estimatorOptimization exceeded the configured duration by 51305184ns + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034336 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.991ms + 3.81sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.82sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909564.66942310 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.344ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.605ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.962ms + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909565.29703426 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.807ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335115 ms (missed cycles : 4).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.773ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.055ms + 5.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.025ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.675ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.553ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464821 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.062ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.064ms + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.912ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.214ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022298 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.988ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.8s | 70 errors · 695 warnings · 1943 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/2026-07-24-16-03-02-712536-1e9d9d02f067-9393 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.06sINFOros2_control_node-10process started with pid [9538] + 13.06sINFOmove_group-22process started with pid [9550] + 13.06sINFOparameter_manager_node-23process started with pid [9551] + 13.06sINFOwaypoint_manager_node-24process started with pid [9567] + 13.06sINFOmove_joint_resampler_node-25process started with pid [9568] + 13.07sINFOmove_end_effector_resampler_node-26process started with pid [9569] + 13.07sINFOobjective_server_node_main-27process started with pid [9571] + 13.07sINFOcomponent_container_mt-28process started with pid [9572] + 13.07sINFOcomponent_container_mt-29process started with pid [9573] + 13.07sINFOexecute_objective_bridge-30process started with pid [9574] + 13.07sINFOui_teleop_bridge-31process started with pid [9575] + 13.07sINFOweb_bridge-32process started with pid [9577] + 13.07sINFOtf2_web_republisher_node-33process started with pid [9593] + 13.08sINFOweb_video_server-34process started with pid [9596] + 13.08sINFOweb_bridge_auth_proxy-35process started with pid [9599] + 13.08sINFOweb_video_auth_proxy-36process started with pid [9609] + 13.09sINFOcomponent_container_isolated-1process started with pid [9443] + 13.09sINFOstatic_transform_publisher-2process started with pid [9444] + 13.09sINFOodom_world_drift.py-3process started with pid [9445] + 13.09sINFOslip_aware_odom-4process started with pid [9446] + 13.09sINFOamcl_odom_gate-5process started with pid [9447] + 13.09sINFOodom_qos_relay.py-6process started with pid [9448] + 13.09sINFOscan_to_scan_filter_chain-7process started with pid [9449] + 13.09sINFOscan_to_scan_filter_chain-8process started with pid [9450] + 13.09sINFOfixed_lag_smoother_node-9process started with pid [9451] + 13.09sINFOros2-11process started with pid [9539] + 13.09sINFOros2-12process started with pid [9540] + 13.09sINFOros2-13process started with pid [9541] + 13.09sINFOros2-14process started with pid [9542] + 13.09sINFOros2-15process started with pid [9543] + 13.09sINFOros2-16process started with pid [9544] + 13.09sINFOros2-17process started with pid [9545] + 13.10sINFOros2-18process started with pid [9546] + 13.10sINFOros2-19process started with pid [9547] + 13.10sINFOros2-20process started with pid [9548] + 13.10sINFOros2-21process started with pid [9549] + 13.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.21sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.21sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.22sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.22sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.22sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.22sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.22sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.23sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.23sWARNros2_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 + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.096093 ms (missed cycles : 7).[0m + 13.23sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.27sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.27sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.28sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.47sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.68sWARNscan_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 + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.84sINFOweb_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 + 13.85sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.92sINFOmove_groupLoaded robot model in 0.358566 seconds[0m + 13.92sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.92sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726708 ms (missed cycles : 2).[0m + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.90sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_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 + 14.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.94sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.94sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 14.99sINFOwaypoint_manager_nodeLoaded robot model in 0.457694 seconds[0m + 15.00sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.00sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.07sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×17 + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833704 ms (missed cycles : 2).[0m + 15.39sINFOmove_group[2026-07-24 16:03:21.294] [moveit_pro_license] [info] + 15.39sINFOmove_group************************************************* ×6 + 15.39sINFOmove_group* MoveIt Pro License ×3 + 15.39sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.53sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.56sWARNwaypoint_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 + 15.56sWARNwaypoint_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 + 15.56sWARNwaypoint_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 + 15.56sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.57sWARNwaypoint_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 + 15.58sWARNwaypoint_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 + 15.58sWARNwaypoint_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 + 15.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.77sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.77sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.77sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.77sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.77sINFOmove_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 + 15.78sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.84sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.84sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.84sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.84sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.84sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.84sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.84sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.84sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.84sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.84sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.84sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.84sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.85sINFOwaypoint_manager_node[2026-07-24 16:03:21.752] [moveit_pro_license] [info] + 15.85sINFOwaypoint_manager_node************************************************* ×6 + 15.85sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.85sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.90sWARNros2_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 + 16.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 16.13sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.13sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.13sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.13sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.13sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831374 ms (missed cycles : 2).[0m + 16.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.21sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 16.21sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.49sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 16.51sINFOros2-13process has finished cleanly [pid 9541] + 16.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.58sINFOros2_control_nodeconfigure successful[0m ×9 + 16.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.59sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.90sINFOobjective_server_node[2026-07-24 16:03:22.799] [moveit_pro_license] [info] + 16.90sINFOobjective_server_node************************************************* ×8 + 16.90sINFOobjective_server_node* MoveIt Pro License ×4 + 16.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.94sINFOros2-11process has finished cleanly [pid 9539] + 16.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.97sINFOobjective_server_nodeLoaded robot model in 0.0276508 seconds[0m + 16.97sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.97sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.09sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 17.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 17.13sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 17.13sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 17.14sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 17.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.14sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 17.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 17.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 17.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 17.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055215 ms (missed cycles : 2).[0m + 17.39sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 17.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.41sINFOcomponent_container_mtLoaded robot model in 0.32158 seconds[0m + 17.41sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.41sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.43sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.44sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 17.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.46sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.48sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.48sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.48sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.49sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.49sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.57sINFOros2_control_node[2026-07-24 16:03:23.472] [info] Controller state will be published at 20 Hz. + 17.57sINFOros2_control_node[2026-07-24 16:03:23.475] [info] JointVelocityController 'on_configure' succeeded. + 17.59sINFOmove_group ×12 + 17.59sINFOmove_group******************************************************** ×6 + 17.59sINFOmove_group* MoveGroup using: ×3 + 17.59sINFOmove_group* - apply_planning_scene_service ×3 + 17.59sINFOmove_group* - clear_octomap_service ×3 + 17.59sINFOmove_group* - get_group_urdf ×3 + 17.59sINFOmove_group* - load_geometry_from_file ×3 + 17.59sINFOmove_group* - get_planning_scene_service ×3 + 17.59sINFOmove_group* - kinematics_service ×3 + 17.59sINFOmove_group* - save_geometry_to_file ×3 + 17.59sINFOmove_group* - GetPlanningGroups ×3 + 17.59sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.59sINFOmove_group[0m ×3 + 17.59sINFOmove_group[92mYou can start planning now![0m ×3 + 17.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.78sWARNcomponent_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 + 17.78sWARNcomponent_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 + 17.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.80sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 17.98sINFOros2-20process has finished cleanly [pid 9548] + 18.02sINFOcomponent_container_mt[2026-07-24 16:03:23.927] [moveit_pro_license] [info] + 18.02sINFOcomponent_container_mt************************************************* ×6 + 18.02sINFOcomponent_container_mt* MoveIt Pro License ×3 + 18.02sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.11sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.11sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.11sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.34sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.35sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.41sINFOros2-17process has finished cleanly [pid 9545] + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920591 ms (missed cycles : 4).[0m + 18.43sWARNobjective_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 + 18.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 18.49sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 18.50sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.52sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 18.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.79sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.79sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.80sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 18.80sINFOros2-14process has finished cleanly [pid 9542] + 18.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 19.28sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 19.30sINFOros2-16process has finished cleanly [pid 9544] + 19.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 19.43sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 19.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717947 ms (missed cycles : 2).[0m + 19.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.82sINFOros2_control_node[2026-07-24 16:03:25.721] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.82sINFOros2_control_node[2026-07-24 16:03:25.725] [info] Controller state will be published at 10 Hz. + 19.82sINFOros2_control_node[2026-07-24 16:03:25.727] [info] VelocityForceController 'on_configure' succeeded. + 20.21sINFOros2-18process has finished cleanly [pid 9546] + 20.46sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.46sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 20.49sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 20.50sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 20.50sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.51sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972923 ms (missed cycles : 3).[0m + 20.89sINFOros2-12process has finished cleanly [pid 9540] + 20.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 20.97sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.35sINFOros2_control_node[2026-07-24 16:03:27.257] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.36sINFOros2_control_node[2026-07-24 16:03:27.261] [info] Controller state will be published at 10 Hz. + 21.36sINFOros2_control_node[2026-07-24 16:03:27.262] [info] VelocityForceController 'on_configure' succeeded. + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361341 ms (missed cycles : 6).[0m + 21.75sINFOros2-19process has finished cleanly [pid 9547] + 22.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 22.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 22.03sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 22.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 22.06sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 22.06sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 22.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 22.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 22.08sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 22.43sINFOros2-15process has finished cleanly [pid 9543] + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839377 ms (missed cycles : 6).[0m + 22.76sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.76sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.76sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wev7sabs --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_74q3s8ka --params-file /tmp/launch_params_fvum2lkn [0m + 22.78sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 22.79sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 23.40sINFOros2_control_node[2026-07-24 16:03:29.306] [info] Controller state will be published at 20 Hz. + 23.40sINFOros2_control_node[2026-07-24 16:03:29.308] [info] JointVelocityController 'on_configure' succeeded. + 23.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889140 ms (missed cycles : 2).[0m + 23.75sINFOros2-21process has finished cleanly [pid 9549] + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113555 ms (missed cycles : 3).[0m + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.205994 ms (missed cycles : 7).[0m + 25.91sINFOros2_control_nodeMuJoCo sim: 1.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344773 ms (missed cycles : 3).[0m + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033124 ms (missed cycles : 3).[0m + 28.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909014.47646475 seconds. + 28.58sINFOmove_groupClearing octomap...[0m ×4 + 28.58sINFOmove_groupOctomap cleared.[0m ×4 + 28.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909014.48673010 seconds + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149163 ms (missed cycles : 4).[0m + 29.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909015.04650760 seconds. + 29.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909015.06670737 seconds + 29.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909015.61524391 seconds. + 29.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909015.76785588 seconds + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409081 ms (missed cycles : 4).[0m + 30.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909016.36317921 seconds. + 30.48sINFOobjective_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 + 30.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909016.44332552 seconds + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728261 ms (missed cycles : 4).[0m + 31.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909017.01218510 seconds. + 31.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 31.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 31.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 31.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355240 ms (missed cycles : 5).[0m + 32.37sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.63sINFOros2_control_nodeReceived new action goal[0m ×13 + 32.63sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851834 ms (missed cycles : 3).[0m + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898681 ms (missed cycles : 2).[0m + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110922 ms (missed cycles : 6).[0m + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931710 ms (missed cycles : 4).[0m + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553465 ms (missed cycles : 3).[0m + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497901 ms (missed cycles : 3).[0m + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621137 ms (missed cycles : 6).[0m + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052254 ms (missed cycles : 2).[0m + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538181 ms (missed cycles : 5).[0m + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847154 ms (missed cycles : 6).[0m + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.794456 ms (missed cycles : 7).[0m + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993168 ms (missed cycles : 3).[0m + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879506 ms (missed cycles : 3).[0m + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405123 ms (missed cycles : 5).[0m + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007038 ms (missed cycles : 3).[0m + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628344 ms (missed cycles : 3).[0m + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084257 ms (missed cycles : 3).[0m + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055963 ms (missed cycles : 3).[0m + 51.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136894 ms (missed cycles : 2).[0m + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469733 ms (missed cycles : 2).[0m + 53.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587889 ms (missed cycles : 4).[0m + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.751194 ms (missed cycles : 5).[0m + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536992 ms (missed cycles : 2).[0m + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056653 ms (missed cycles : 3).[0m + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193070 ms (missed cycles : 2).[0m + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114124 ms (missed cycles : 3).[0m + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720520 ms (missed cycles : 2).[0m + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082512 ms (missed cycles : 4).[0m + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668296 ms (missed cycles : 2).[0m + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256765 ms (missed cycles : 2).[0m + 63.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039473 ms (missed cycles : 6).[0m + 64.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043953 ms (missed cycles : 3).[0m + 65.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102880 ms (missed cycles : 2).[0m + 66.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231330 ms (missed cycles : 2).[0m + 67.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151499 ms (missed cycles : 4).[0m + 68.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171133 ms (missed cycles : 3).[0m + 70.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466489 ms (missed cycles : 3).[0m + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342774 ms (missed cycles : 2).[0m + 72.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648964 ms (missed cycles : 3).[0m + 73.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020033 ms (missed cycles : 2).[0m + 74.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051145 ms (missed cycles : 6).[0m + 74.21sINFOros2_control_nodeGoal reached, success![0m ×12 + 74.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784909060.14593506 seconds + 74.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784909060.70113945 seconds. + 75.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438997 ms (missed cycles : 5).[0m + 75.76sINFOobjective_server_nodeFound path in 0 iterations (2.557e-05 s). + 75.76sINFOobjective_server_nodePath shortcutter: [X____X] + 75.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 76.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903731 ms (missed cycles : 4).[0m + 77.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332048 ms (missed cycles : 2).[0m + 77.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784909063.79133701 seconds + 78.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179236 ms (missed cycles : 8).[0m + 78.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784909064.35554767 seconds. + 78.80sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 79.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756106 ms (missed cycles : 2).[0m + 80.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798889 ms (missed cycles : 2).[0m + 81.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303109 ms (missed cycles : 5).[0m + 82.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483927 ms (missed cycles : 5).[0m + 83.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.308638 ms (missed cycles : 6).[0m + 84.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012609 ms (missed cycles : 3).[0m + 85.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048155 ms (missed cycles : 5).[0m + 85.92sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407369 ms (missed cycles : 5).[0m + 87.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995624 ms (missed cycles : 4).[0m + 88.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294211 ms (missed cycles : 3).[0m + 89.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586642 ms (missed cycles : 3).[0m + 90.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.236432 ms (missed cycles : 7).[0m + 91.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155059 ms (missed cycles : 4).[0m + 92.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201436 ms (missed cycles : 3).[0m + 93.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394602 ms (missed cycles : 5).[0m + 94.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004938 ms (missed cycles : 3).[0m + 95.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584382 ms (missed cycles : 2).[0m + 96.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618218 ms (missed cycles : 3).[0m + 97.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368774 ms (missed cycles : 5).[0m + 98.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886503 ms (missed cycles : 2).[0m + 99.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443526 ms (missed cycles : 3).[0m +101.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742670 ms (missed cycles : 2).[0m +102.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616933 ms (missed cycles : 2).[0m +103.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442182 ms (missed cycles : 4).[0m +104.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607304 ms (missed cycles : 4).[0m +105.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367762 ms (missed cycles : 6).[0m +106.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205574 ms (missed cycles : 2).[0m +107.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936504 ms (missed cycles : 3).[0m +108.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254044 ms (missed cycles : 4).[0m +109.09sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560209 ms (missed cycles : 3).[0m +110.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.111184 ms (missed cycles : 6).[0m +111.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408382 ms (missed cycles : 2).[0m +112.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940200 ms (missed cycles : 3).[0m +114.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278984 ms (missed cycles : 3).[0m +115.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178378 ms (missed cycles : 3).[0m +116.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501626 ms (missed cycles : 6).[0m +117.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.762931 ms (missed cycles : 6).[0m +118.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952736 ms (missed cycles : 6).[0m +119.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473798 ms (missed cycles : 3).[0m +120.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274223 ms (missed cycles : 4).[0m +121.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713203 ms (missed cycles : 2).[0m +122.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167479 ms (missed cycles : 2).[0m +123.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013861 ms (missed cycles : 6).[0m +124.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643268 ms (missed cycles : 3).[0m +125.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434050 ms (missed cycles : 5).[0m +126.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101176 ms (missed cycles : 6).[0m +127.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772241 ms (missed cycles : 4).[0m +128.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266236 ms (missed cycles : 3).[0m +129.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430672 ms (missed cycles : 2).[0m +130.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861124 ms (missed cycles : 4).[0m +131.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.608276 ms (missed cycles : 7).[0m +132.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031027 ms (missed cycles : 2).[0m +133.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995235 ms (missed cycles : 2).[0m +134.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366451 ms (missed cycles : 3).[0m +134.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784909120.50572228 seconds +135.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784909121.07662177 seconds. +135.51sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 +135.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319547 ms (missed cycles : 4).[0m +136.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009986 ms (missed cycles : 3).[0m +137.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575631 ms (missed cycles : 2).[0m +138.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025694 ms (missed cycles : 6).[0m +139.21sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784909125.10937524 seconds +139.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757916 ms (missed cycles : 4).[0m +140.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.696000 ms (missed cycles : 5).[0m +140.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784909126.69077897 seconds. +141.14sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +141.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013791 ms (missed cycles : 6).[0m +142.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578549 ms (missed cycles : 3).[0m +143.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287141 ms (missed cycles : 6).[0m +144.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199972 ms (missed cycles : 2).[0m +145.92sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m +145.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036729 ms (missed cycles : 5).[0m +147.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559396 ms (missed cycles : 5).[0m +148.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.302201 ms (missed cycles : 7).[0m +149.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276840 ms (missed cycles : 4).[0m +150.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033017 ms (missed cycles : 6).[0m +151.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169866 ms (missed cycles : 2).[0m +152.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414402 ms (missed cycles : 3).[0m +153.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866520 ms (missed cycles : 2).[0m +154.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218354 ms (missed cycles : 2).[0m +155.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841275 ms (missed cycles : 3).[0m +156.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360943 ms (missed cycles : 3).[0m +157.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.374928 ms (missed cycles : 6).[0m +158.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989015 ms (missed cycles : 2).[0m +159.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749381 ms (missed cycles : 5).[0m +160.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486332 ms (missed cycles : 5).[0m +161.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385831 ms (missed cycles : 2).[0m +162.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904367 ms (missed cycles : 3).[0m +163.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577360 ms (missed cycles : 4).[0m +164.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076188 ms (missed cycles : 2).[0m +165.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513903 ms (missed cycles : 5).[0m +166.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768291 ms (missed cycles : 3).[0m +167.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798181 ms (missed cycles : 4).[0m +168.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450124 ms (missed cycles : 4).[0m +169.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991318 ms (missed cycles : 4).[0m +170.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676820 ms (missed cycles : 2).[0m +171.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784909157.12092280 seconds +171.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784909157.69382811 seconds. +172.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229546 ms (missed cycles : 3).[0m +172.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 +173.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856030 ms (missed cycles : 3).[0m +173.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +174.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709933 ms (missed cycles : 3).[0m +175.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.984668 ms (missed cycles : 8).[0m +176.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792952 ms (missed cycles : 5).[0m +177.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322647 ms (missed cycles : 5).[0m +178.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081570 ms (missed cycles : 3).[0m +179.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515787 ms (missed cycles : 5).[0m +180.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429734 ms (missed cycles : 5).[0m +181.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607782 ms (missed cycles : 2).[0m +182.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266196 ms (missed cycles : 3).[0m +183.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380473 ms (missed cycles : 3).[0m +184.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263264 ms (missed cycles : 2).[0m +185.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149681 ms (missed cycles : 2).[0m +186.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870235 ms (missed cycles : 4).[0m +187.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336106 ms (missed cycles : 3).[0m +188.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744683 ms (missed cycles : 2).[0m +189.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023584 ms (missed cycles : 3).[0m +190.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851496 ms (missed cycles : 4).[0m +191.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632650 ms (missed cycles : 3).[0m +192.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.748603 ms (missed cycles : 6).[0m +193.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846947 ms (missed cycles : 4).[0m +194.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607587 ms (missed cycles : 4).[0m +195.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361054 ms (missed cycles : 3).[0m +196.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186531 ms (missed cycles : 2).[0m +198.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331562 ms (missed cycles : 5).[0m +198.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910149 ms (missed cycles : 2).[0m +200.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353324 ms (missed cycles : 4).[0m +201.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415139 ms (missed cycles : 2).[0m +202.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884172 ms (missed cycles : 4).[0m +203.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.837388 ms (missed cycles : 10).[0m +204.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771798 ms (missed cycles : 3).[0m +205.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948690 ms (missed cycles : 5).[0m +205.29sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +205.30sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +205.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784909191.20408583 seconds +205.93sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m +205.97sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784909191.87827611 seconds. +206.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742530 ms (missed cycles : 4).[0m +207.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902060 ms (missed cycles : 2).[0m +208.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.783285 ms (missed cycles : 7).[0m +209.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988257 ms (missed cycles : 2).[0m +210.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749962 ms (missed cycles : 2).[0m +211.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500234 ms (missed cycles : 4).[0m +212.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083765 ms (missed cycles : 2).[0m +213.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502919 ms (missed cycles : 2).[0m +214.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860066 ms (missed cycles : 3).[0m +215.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260036 ms (missed cycles : 2).[0m +215.99sINFOros2_control_nodeGot request to cancel goal[0m +215.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +215.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784909201.89558244 seconds +216.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104235 ms (missed cycles : 2).[0m +216.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784909202.44159174 seconds. +217.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.360823 ms (missed cycles : 7).[0m +218.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890364 ms (missed cycles : 4).[0m +219.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381560 ms (missed cycles : 2).[0m +220.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159585 ms (missed cycles : 7).[0m +221.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095373 ms (missed cycles : 3).[0m +222.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306599 ms (missed cycles : 3).[0m +223.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120550 ms (missed cycles : 3).[0m +224.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521273 ms (missed cycles : 3).[0m +225.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164769 ms (missed cycles : 4).[0m +226.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078762 ms (missed cycles : 5).[0m +227.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594961 ms (missed cycles : 2).[0m +229.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113459 ms (missed cycles : 3).[0m +230.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556475 ms (missed cycles : 2).[0m +231.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432563 ms (missed cycles : 3).[0m +232.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264730 ms (missed cycles : 2).[0m +233.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415806 ms (missed cycles : 6).[0m +234.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153920 ms (missed cycles : 3).[0m +235.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543533 ms (missed cycles : 5).[0m +236.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844386 ms (missed cycles : 2).[0m +237.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158391 ms (missed cycles : 3).[0m +238.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316713 ms (missed cycles : 2).[0m +239.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948059 ms (missed cycles : 2).[0m +240.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280983 ms (missed cycles : 2).[0m +241.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057049 ms (missed cycles : 2).[0m +242.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039602 ms (missed cycles : 3).[0m +243.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717170 ms (missed cycles : 4).[0m +244.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035026 ms (missed cycles : 4).[0m +245.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933480 ms (missed cycles : 2).[0m +246.41sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +246.42sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +246.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784909232.32180953 seconds +246.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289986 ms (missed cycles : 2).[0m +247.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784909232.93355823 seconds. +247.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 +247.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685258 ms (missed cycles : 2).[0m +248.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507028 ms (missed cycles : 2).[0m +249.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857562 ms (missed cycles : 4).[0m +250.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665751 ms (missed cycles : 3).[0m +251.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090862 ms (missed cycles : 3).[0m +252.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101142 ms (missed cycles : 4).[0m +254.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019584 ms (missed cycles : 3).[0m +255.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209825 ms (missed cycles : 7).[0m +256.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.130813 ms (missed cycles : 7).[0m +257.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191936 ms (missed cycles : 2).[0m +258.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490326 ms (missed cycles : 3).[0m +259.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344414 ms (missed cycles : 3).[0m +260.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515374 ms (missed cycles : 2).[0m +261.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202405 ms (missed cycles : 3).[0m +262.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.101972 ms (missed cycles : 7).[0m +263.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135985 ms (missed cycles : 2).[0m +264.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686838 ms (missed cycles : 3).[0m +265.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804337 ms (missed cycles : 5).[0m +265.93sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350394 ms (missed cycles : 3).[0m +267.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445346 ms (missed cycles : 3).[0m +268.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468848 ms (missed cycles : 2).[0m +269.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661845 ms (missed cycles : 3).[0m +270.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688607 ms (missed cycles : 3).[0m +271.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401373 ms (missed cycles : 2).[0m +272.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093611 ms (missed cycles : 3).[0m +273.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347770 ms (missed cycles : 4).[0m +274.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058817 ms (missed cycles : 2).[0m +275.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424385 ms (missed cycles : 3).[0m +276.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.542832 ms (missed cycles : 8).[0m +277.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900776 ms (missed cycles : 2).[0m +278.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703844 ms (missed cycles : 2).[0m +279.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577286 ms (missed cycles : 4).[0m +280.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050838 ms (missed cycles : 3).[0m +282.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374865 ms (missed cycles : 3).[0m +283.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152522 ms (missed cycles : 6).[0m +284.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883782 ms (missed cycles : 5).[0m +285.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181999 ms (missed cycles : 3).[0m +286.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958496 ms (missed cycles : 3).[0m +287.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481873 ms (missed cycles : 2).[0m +288.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224519 ms (missed cycles : 3).[0m +289.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599443 ms (missed cycles : 5).[0m +290.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148688 ms (missed cycles : 3).[0m +291.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984032 ms (missed cycles : 2).[0m +292.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904070 ms (missed cycles : 2).[0m +293.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923635 ms (missed cycles : 2).[0m +294.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897324 ms (missed cycles : 2).[0m +295.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045202 ms (missed cycles : 2).[0m +296.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382454 ms (missed cycles : 3).[0m +297.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241633 ms (missed cycles : 2).[0m +298.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137837 ms (missed cycles : 6).[0m +299.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355632 ms (missed cycles : 3).[0m +300.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409349 ms (missed cycles : 3).[0m +301.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784909287.46373510 seconds +301.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667936 ms (missed cycles : 3).[0m +302.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784909288.03530931 seconds. +302.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900944 ms (missed cycles : 2).[0m +303.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888171 ms (missed cycles : 2).[0m +304.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.067420 ms (missed cycles : 7).[0m +305.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800591 ms (missed cycles : 4).[0m +306.58sINFOobjective_server_nodeFound path in 0 iterations (1.01e-06 s). +306.61sINFOobjective_server_nodePath shortcutter: [X__________________X] +306.64sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 +306.66sINFOobjective_server_nodePath shortcutter: [X____________________X] +306.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +306.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] +306.78sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). +306.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263700 ms (missed cycles : 3).[0m +306.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +306.96sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +307.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] +307.24sINFOobjective_server_nodeFound path in 29 iterations (0.0320384 s). +307.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X_____X] +307.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498143 ms (missed cycles : 3).[0m +307.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +307.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +308.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +308.53sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +308.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155114 ms (missed cycles : 5).[0m +309.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798483 ms (missed cycles : 3).[0m +310.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358857 ms (missed cycles : 2).[0m +311.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701449 ms (missed cycles : 2).[0m +313.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304409 ms (missed cycles : 2).[0m +314.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968579 ms (missed cycles : 2).[0m +314.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784909300.44807529 seconds +315.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166729 ms (missed cycles : 3).[0m +315.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784909301.05550098 seconds. +315.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784909301.49565291 seconds +316.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585408 ms (missed cycles : 3).[0m +316.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784909302.04470491 seconds. +316.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784909302.50486302 seconds +316.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +317.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981458 ms (missed cycles : 4).[0m +318.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677970 ms (missed cycles : 5).[0m +319.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943055 ms (missed cycles : 2).[0m +320.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844854 ms (missed cycles : 2).[0m +321.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951739 ms (missed cycles : 2).[0m +322.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.191793 ms (missed cycles : 7).[0m +322.96sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.98sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.98sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.98sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.99sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.99sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +323.01sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.02sERRORweb_video_auth_proxy-36process has died [pid 9609, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +323.02sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.02sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.03sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.03sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +323.05sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.05sERRORweb_bridge_auth_proxy-35process has died [pid 9599, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +323.05sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.06sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.06sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.06sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.07sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.07sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.08sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.08sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.09sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.09sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.10sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.10sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +323.12sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +323.15sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +323.17sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +323.20sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +323.22sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +323.25sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +323.27sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +323.30sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +323.33sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +323.36sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +323.37sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +323.38sINFOweb_video_server-34process has finished cleanly [pid 9596] +323.38sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +323.41sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +323.43sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9593] +323.45sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +323.49sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +323.51sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +323.52sERRORmove_group-22process has died [pid 9550, 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_km23tsb8 --params-file /tmp/launch_params_lp0szhze --params-file /tmp/launch_params_dfcg8ngy --params-file /tmp/launch_params_6ex3e0bj --params-file /tmp/launch_params_0xsj0qju --params-file /tmp/launch_params_2bqr0rj9']. +323.54sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +323.54sERRORui_teleop_bridge-31process has died [pid 9575, 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__0ujshky']. +323.54sINFOcomponent_container_mt-29process has finished cleanly [pid 9573] +323.56sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +323.59sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +323.59sINFOexecute_objective_bridge-30process has finished cleanly [pid 9574] +323.61sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +323.63sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +323.63sERRORobjective_server_node_main-27process has died [pid 9571, 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_n3g1brru --params-file /tmp/launch_params_zmk75mei --params-file /tmp/launch_params_trd2mw_3 --params-file /tmp/launch_params_gppkvi8u --params-file /tmp/launch_params_xq00ta04 --params-file /tmp/launch_params_lcfzhmzt --params-file /tmp/launch_params_f7b8p8x6 --params-file /tmp/launch_params_gbl65wge --params-file /tmp/launch_params_a9ty8uhb']. +323.65sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +323.67sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.68sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.68sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.68sERRORui_teleop_bridgeTraceback (most recent call last): +323.68sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.68sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.68sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.68sINFOui_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 +323.68sINFOui_teleop_bridgerclpy.shutdown() +323.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.68sINFOui_teleop_bridge_shutdown(context=context) +323.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.68sINFOui_teleop_bridgecontext.shutdown() +323.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.68sINFOui_teleop_bridgeself.__context.shutdown() +323.68sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.68sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.68sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 16:08:29.177] signal_handler(SIGINT/SIGTERM)[0m +323.68sINFOcomponent_container_mtStopping planning scene monitor[0m +323.68sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997758 ms (missed cycles : 2).[0m +323.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.69sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.69sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +323.69sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.69sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.69sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.69sERRORmove_groupStack trace (most recent call last) in thread 10207: +323.69sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.69sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33b78f2a63, in __clone +323.69sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33b7865aa3, in +323.69sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33b7af7db3, in +323.69sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f33b823aed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.69sINFOobjective_server_node[2026-07-24 16:08:29.333] [moveit_pro_license] [info] +323.70sINFOobjective_server_node* Application has successfully terminated +323.70sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33b7e6a4d0, in rclcpp::Rate::sleep() +323.70sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33b7dbda88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.70sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f33b7d82a71, in +323.70sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33b7ac6390, in __cxa_throw +323.70sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33b7ab0a54, in std::terminate() +323.70sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33b7ac60d9, in +323.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f33b7ab0ff4, in +323.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33b77f18fe, in abort +323.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33b780e27d, in raise +323.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f33b7867b2c, in pthread_kill +323.70sERRORmove_groupAborted (Signal sent by tkill() 9550 0) +323.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.70sINFOros2_control_nodeShutdown request received....[0m +323.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.70sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.70sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.70sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.70sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.70sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.70sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.70sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.70sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.70sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.70sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.70sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.70sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.70sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.70sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.70sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.70sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.70sINFOros2_control_nodeShutting down the controller manager.[0m +323.70sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.70sERRORobjective_server_nodeStack trace (most recent call last): +323.70sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.70sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb04b6a4, in _start +323.70sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5f2cf828a, in __libc_start_main +323.70sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5f2cf81d0, in +323.70sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5f2d15bbd, in exit +323.70sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5f2d15a75, in +323.70sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc5f31e48f5, in spdlog::details::registry::~registry() +323.70sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb04bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.70sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb052315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.70sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb0515a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.70sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb04db7b, in spdlog_ros::RosSink::~RosSink() +323.70sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555bfb04bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.70sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f389a454, in rclcpp::Node::~Node() +323.70sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f3855515, in +323.70sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f3898d20, in +323.70sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f3898c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.70sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f38555d9, in +323.70sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5f385a161, in rclcpp::CallbackGroup::~CallbackGroup() +323.70sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc5a28b2090]) +323.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.71sERRORodom_qos_relay.pyTraceback (most recent call last): +323.71sINFOodom_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> +323.71sINFOodom_qos_relay.pymain() +323.71sINFOodom_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 +323.71sINFOodom_qos_relay.pyrclpy.spin(node) +323.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.71sINFOodom_qos_relay.pyexecutor.spin_once() +323.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.71sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.71sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.71sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.71sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.71sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.71sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +323.71sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.71sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +323.72sERRORodom_world_drift.pyTraceback (most recent call last): +323.72sINFOodom_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> +323.72sINFOodom_world_drift.pymain() +323.72sINFOodom_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 +323.72sINFOodom_world_drift.pyrclpy.spin(node) +323.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.72sINFOodom_world_drift.pyexecutor.spin_once() +323.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.72sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.72sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.72sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.72sINFOodom_world_drift.pyraise ExternalShutdownException() +323.72sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +323.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.72sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.72sINFOros2_control_nodepublish_async_failures_ 3[0m +323.72sINFOros2_control_nodepublish_async_failures_ 2[0m +324.11sERRORcomponent_container_isolated-1process has died [pid 9443, 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_1ykt_z4o --params-file /tmp/launch_params_r0fev_q1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +324.36sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9569] +324.39sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9568] +324.48sINFOparameter_manager_node-23process has finished cleanly [pid 9551] +324.49sINFOwaypoint_manager_node-24process has finished cleanly [pid 9567] +324.51sINFOcomponent_container_mt-28process has finished cleanly [pid 9572] +324.56sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9450] +324.58sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9449] +324.59sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9451] +324.65sINFOslip_aware_odom-4process has finished cleanly [pid 9446] +324.66sERRORodom_qos_relay.py-6process has died [pid 9448, 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']. +324.69sINFOstatic_transform_publisher-2process has finished cleanly [pid 9444] +325.63sINFOamcl_odom_gate-5process has finished cleanly [pid 9447] +325.72sERRORodom_world_drift.py-3process has died [pid 9445, 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_bar9wog9']. +325.97sINFOweb_bridge-32process has finished cleanly [pid 9577] +325.98sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +326.28sINFOros2_control_node-10process has finished cleanly [pid 9538] +334.44sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-24-16-08-37-175048-1e9d9d02f067-13570 ×2 +347.05sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +347.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +347.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.17sINFOstate_estimatorReceived a set_pose request (stamp: 1784909333078267674, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +347.19sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +347.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +347.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.26sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.28sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +347.29sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +347.32sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +347.32sINFOcontroller_managerupdate rate is 600 Hz +347.32sINFOcontroller_managerOverruns handling is : enabled +347.32sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.32sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +347.34sINFOcontroller_serverCreating controller server +347.35sINFOros2_control_node-10process started with pid [13707] ×2 +347.35sINFOmove_group-22process started with pid [13719] ×2 +347.35sINFOparameter_manager_node-23process started with pid [13721] ×2 +347.35sINFOwaypoint_manager_node-24process started with pid [13743] ×2 +347.35sINFOmove_joint_resampler_node-25process started with pid [13748] ×2 +347.35sINFOmove_end_effector_resampler_node-26process started with pid [13749] ×2 +347.35sINFOobjective_server_node_main-27process started with pid [13750] ×2 +347.36sINFOcomponent_container_mt-28process started with pid [13751] ×2 +347.36sINFOcomponent_container_mt-29process started with pid [13752] ×2 +347.36sINFOexecute_objective_bridge-30process started with pid [13753] ×2 +347.36sINFOui_teleop_bridge-31process started with pid [13754] ×2 +347.36sINFOweb_bridge-32process started with pid [13755] ×2 +347.36sINFOtf2_web_republisher_node-33process started with pid [13756] ×2 +347.36sINFOweb_video_server-34process started with pid [13757] ×2 +347.37sINFOweb_bridge_auth_proxy-35process started with pid [13776] ×2 +347.37sINFOweb_video_auth_proxy-36process started with pid [13779] ×2 +347.37sINFOcomponent_container_isolated-1process started with pid [13620] ×2 +347.37sINFOstatic_transform_publisher-2process started with pid [13621] ×2 +347.37sINFOodom_world_drift.py-3process started with pid [13622] ×2 +347.37sINFOslip_aware_odom-4process started with pid [13623] ×2 +347.37sINFOamcl_odom_gate-5process started with pid [13624] ×2 +347.37sINFOodom_qos_relay.py-6process started with pid [13625] ×2 +347.37sINFOscan_to_scan_filter_chain-7process started with pid [13626] ×2 +347.37sINFOscan_to_scan_filter_chain-8process started with pid [13627] ×2 +347.37sINFOfixed_lag_smoother_node-9process started with pid [13628] ×2 +347.37sINFOros2-11process started with pid [13708] ×2 +347.37sINFOros2-12process started with pid [13709] ×2 +347.37sINFOros2-13process started with pid [13710] ×2 +347.37sINFOros2-14process started with pid [13711] ×2 +347.37sINFOros2-15process started with pid [13712] ×2 +347.37sINFOros2-16process started with pid [13713] ×2 +347.37sINFOros2-17process started with pid [13714] ×2 +347.37sINFOros2-18process started with pid [13715] ×2 +347.37sINFOros2-19process started with pid [13716] ×2 +347.38sINFOros2-20process started with pid [13717] ×2 +347.38sINFOros2-21process started with pid [13718] ×2 +347.39sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.40sINFOlocal_costmap.local_costmapCreating Costmap +347.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943215 ms (missed cycles : 5). +347.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +347.48sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +347.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943215 ms (missed cycles : 5).[0m ×2 +347.50sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +347.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +347.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +347.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.52sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.52sINFOmap_serverCreating +347.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +347.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.56sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +347.59sINFOsmoother_serverCreating smoother server +347.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +347.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.64sINFOrobot_state_publisherRobot initialized +347.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +347.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.66sINFOcontroller_managerReceived robot description from topic. +347.66sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +347.68sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.70sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +347.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +347.71sINFOplanner_serverCreating +347.74sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.75sINFOglobal_costmap.global_costmapCreating Costmap +347.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +347.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.82sINFOlifecycle_manager_localizationCreating +347.86sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +347.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +347.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.87sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +347.87sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +347.87sINFOmap_serverConfiguring +347.91sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +347.92sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +347.97sINFOamclConfiguring +347.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +348.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.01sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +348.01sINFOmap_serverActivating +348.01sINFOmap_serverCreating bond (map_server) to lifecycle manager. +348.05sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.06sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +348.06sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +348.06sINFObt_navigatorCreating +348.07sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.396704 seconds +348.07sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +348.07sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +348.07sINFOmove_groupLoaded robot model in 0.396704 seconds[0m ×2 +348.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +348.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.13sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.13sINFOlifecycle_manager_localizationServer map_server connected with bond. +348.13sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +348.13sINFOamclActivating +348.13sINFOamclSubscribed to initial_pose_topic: /initialpose +348.14sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +348.14sINFOwaypoint_followerCreating +348.16sINFOamclSubscribed to map_topic: /map +348.16sINFOamclSubscribed to scan_topic: /scan_merged +348.16sINFOamclCreated reinitialize_global_localization service +348.17sINFOamclCreated request_nomotion_update service +348.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +348.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.18sINFOamclA new map was received +348.18sINFOamclInitializing particle filter instance +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +348.19sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +348.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +348.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +348.20sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +348.21sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.26sINFOlifecycle_manager_navigationCreating +348.26sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.30sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +348.30sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +348.30sINFOcontroller_serverConfiguring controller interface +348.30sINFOcontroller_servergetting progress checker plugins.. +348.31sINFOcontroller_servergetting goal checker plugins.. +348.31sINFOcontroller_serverController frequency set to 20.0000Hz +348.31sINFOlocal_costmap.local_costmapConfiguring +348.33sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +348.35sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +348.41sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +348.41sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +348.42sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +348.47sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +348.47sINFOcontroller_serverController Server has progress_checker progress checkers available. +348.48sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +348.48sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +348.48sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +348.50sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +348.51sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +348.51sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +348.52sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +348.52sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +348.52sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +348.52sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +348.52sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +348.52sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +348.53sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +348.53sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +348.53sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +348.53sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +348.53sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +348.54sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +348.54sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +348.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972738 ms (missed cycles : 2). +348.55sINFOcontroller_serverOptimizer reset +348.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972738 ms (missed cycles : 2).[0m ×2 +348.58sINFOcontroller_serverController Server has FollowPath controllers available. +348.59sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +348.59sINFOsmoother_serverConfiguring smoother server +348.61sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +348.62sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +348.64sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +348.64sINFOplanner_serverConfiguring +348.64sINFOglobal_costmap.global_costmapConfiguring +348.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +348.65sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +348.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.67sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +348.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.67sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +348.67sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +348.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.68sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +348.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.69sWARNmove_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. +348.75sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +348.75sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +348.75sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +348.80sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +348.80sINFOplanner_serverCleaning up +348.80sINFOglobal_costmap.global_costmapCleaning up +348.80sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +348.91sINFOamclParticle filter initialization completed +348.91sINFOamclInitializing particles from estimated pose and covariance +348.91sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +348.91sINFOamclThe bond connection to the lifecycle manager is now fully formed +348.92sINFOlifecycle_manager_localizationServer amcl connected with bond. +348.92sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +348.92sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +349.12sINFOmove_group[2026-07-24 16:08:55.025] [moveit_pro_license] [info] ×2 +349.61sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +349.61sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +349.61sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +349.70sINFOwaypoint_manager_nodeLoaded robot model in 0.420942 seconds[0m ×2 +349.80sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +349.80sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +349.80sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +349.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +349.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +349.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +349.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +349.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +349.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +349.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +349.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043054 ms (missed cycles : 2). +349.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +349.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043054 ms (missed cycles : 2).[0m ×2 +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.14sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.15sWARNwaypoint_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. +350.16sWARNwaypoint_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. +350.16sWARNwaypoint_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. +350.16sWARNwaypoint_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. +350.16sWARNwaypoint_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. +350.16sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.17sWARNwaypoint_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. +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.39sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +350.39sINFOcontroller_managerActivating component 'ur_mujoco_control'. +350.39sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +350.39sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +350.41sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +350.45sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.45sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.49sINFOwaypoint_manager_node[2026-07-24 16:08:56.391] [moveit_pro_license] [info] ×2 +350.62sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +350.62sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +350.62sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +350.62sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +350.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.66sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +350.66sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +350.67sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +350.67sINFOcontroller_managerSuccessfully switched controllers! ×8 +350.68sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +350.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.72sINFOobjective_server_node[2026-07-24 16:08:56.627] [moveit_pro_license] [info] ×2 +350.74sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +350.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +350.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +350.75sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +350.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +350.79sINFOobjective_server_nodeLoaded robot model in 0.0247274 seconds[0m ×2 +350.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +350.99sINFOcontroller_managerLoading controller 'vacuum_gripper' +351.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +351.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +351.00sINFOcomponent_container_mtLoaded robot model in 0.345134 seconds[0m ×2 +351.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758413 ms (missed cycles : 2). +351.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758413 ms (missed cycles : 2).[0m ×2 +351.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +351.05sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +351.06sINFOros2-12process has finished cleanly [pid 13709] ×2 +351.08sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +351.09sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +351.09sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +351.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +351.10sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +351.18sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +351.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +351.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.50sINFOros2-15process has finished cleanly [pid 13712] ×2 +351.59sINFOmove_groupMoveGroup debug mode is ON +351.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +351.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +351.65sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909336.442 for reason 'discarding message because the queue is full' +351.67sINFOcomponent_container_mt[2026-07-24 16:08:57.573] [moveit_pro_license] [info] ×2 +351.70sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +351.71sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +351.74sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +351.74sINFOmove_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
********************************************************
+352.09sINFOros2_control_node[2026-07-24 16:08:57.989] [info] Controller state will be published at 20 Hz. ×2 +352.09sINFOros2_control_node[2026-07-24 16:08:57.990] [info] JointVelocityController 'on_configure' succeeded. ×2 +352.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799683 ms (missed cycles : 2). +352.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799683 ms (missed cycles : 2).[0m ×2 +352.43sINFOros2-21process has finished cleanly [pid 13718] ×2 +352.45sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +352.70sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +352.70sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +352.71sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +352.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +352.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +352.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +352.81sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +352.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +352.82sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +352.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +352.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +353.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467001 ms (missed cycles : 4). +353.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467001 ms (missed cycles : 4).[0m ×2 +353.18sINFOros2-17process has finished cleanly [pid 13714] ×2 +353.18sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +353.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +353.19sINFOcontroller_managerLoading controller 'velocity_force_controller' +353.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +353.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +353.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +353.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +353.68sINFOros2_control_node[2026-07-24 16:08:59.582] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.68sINFOros2_control_node[2026-07-24 16:08:59.585] [info] Controller state will be published at 10 Hz. ×2 +353.68sINFOros2_control_node[2026-07-24 16:08:59.587] [info] VelocityForceController 'on_configure' succeeded. ×2 +354.05sINFOros2-18process has finished cleanly [pid 13715] ×2 +354.05sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +354.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.07sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +354.08sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +354.08sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +354.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525565 ms (missed cycles : 3). +354.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525565 ms (missed cycles : 3).[0m ×2 +354.12sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +354.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +354.13sINFOplatform_velocity_controller_nav2configure successful +354.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909339.042 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +354.40sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.40sINFOcontroller_managerLoading controller 'platform_velocity_controller' +354.40sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +354.40sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +354.41sINFOros2-16process has finished cleanly [pid 13713] ×2 +354.48sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +354.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +354.48sINFOplatform_velocity_controllerconfigure successful +354.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +354.49sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +354.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +354.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' +354.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +354.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +354.84sINFOros2-14process has finished cleanly [pid 13711] ×2 +354.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +354.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +355.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317054 ms (missed cycles : 2). +355.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317054 ms (missed cycles : 2).[0m ×2 +355.28sINFOros2_control_node[2026-07-24 16:09:01.185] [info] Controller state will be published at 20 Hz. ×2 +355.28sINFOros2_control_node[2026-07-24 16:09:01.186] [info] JointVelocityController 'on_configure' succeeded. ×2 +355.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +355.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +355.65sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +355.65sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +355.66sINFOros2-20process has finished cleanly [pid 13717] ×2 +355.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +355.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +356.08sINFOros2_control_node[2026-07-24 16:09:01.987] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +356.09sINFOros2_control_node[2026-07-24 16:09:01.990] [info] Controller state will be published at 10 Hz. ×2 +356.09sINFOros2_control_node[2026-07-24 16:09:01.992] [info] VelocityForceController 'on_configure' succeeded. ×2 +356.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.062139 ms (missed cycles : 8). +356.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.062139 ms (missed cycles : 8).[0m ×2 +356.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +356.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +356.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +356.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +356.46sINFOros2-19process has finished cleanly [pid 13716] ×2 +356.54sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +356.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +356.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +356.55sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +356.55sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +356.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +356.57sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +356.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784909341.542 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +356.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.918ms +356.96sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +356.96sINFOros2-13process has finished cleanly [pid 13710] ×2 +357.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236295 ms (missed cycles : 5). +357.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236295 ms (missed cycles : 5).[0m ×2 +357.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +357.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +357.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps +357.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x_xsa8d5 --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_q3jytth3 --params-file /tmp/launch_params_0a8xa2ps [0m ×2 +357.26sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +357.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +357.27sINFOforce_torque_sensor_broadcasterconfigure successful +357.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +357.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +357.61sINFOros2-11process has finished cleanly [pid 13708] ×2 +358.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601745 ms (missed cycles : 3). +358.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601745 ms (missed cycles : 3).[0m ×2 +359.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). +359.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 +360.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). +360.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 +360.46sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +360.59sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns +361.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). +361.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 +362.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). +362.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 +362.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 +362.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +362.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +362.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 +363.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 +363.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 +363.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). +363.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 +363.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 +363.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 +364.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). +364.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 +364.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 +364.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +364.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +364.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 +365.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 +365.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +365.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +365.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_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 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998399 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 19 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697502 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862519 ms (missed cycles : 5).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sWARNstate_estimatorOptimization exceeded the configured duration by 3910002ns + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324289 ms (missed cycles : 5).[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072861 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784909348.52530813 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784909348.53555894 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784909349.09220099 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784909349.11233926 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543742 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784909349.66019654 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784909349.81102085 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093264 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784909350.39246798 seconds. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784909350.47261500 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784909351.02933407 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244901 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786024 ms (missed cycles : 3).[0m ×2 | ||||