69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.5s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.9s | 6 errors · 168 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.982ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 1.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 3.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784913036.55829954 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 3.90sWARNstate_estimatorOptimization exceeded the configured duration by 84131360ns + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.520ms + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784913037.11810327 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.072ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.445ms + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.184ms + 4.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7).[0m ×2 + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.323ms + 5.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 5.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.499ms + 5.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.999ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.729ms + 6.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.777ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 6.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.685ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.352ms + 6.95sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 4.116ms + 7.15sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 3.182ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682370 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682370 ms (missed cycles : 2).[0m ×2 + 7.35sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 3.130ms + 7.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=2.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=2.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.388055 ms (missed cycles : 7). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.388055 ms (missed cycles : 7).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.988ms + 8.75sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.960ms + 9.04sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.214ms + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402968 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402968 ms (missed cycles : 2).[0m ×2 + 9.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.035ms + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 9.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=1.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=1.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118816 ms (missed cycles : 7). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118816 ms (missed cycles : 7).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 10.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914718 ms (missed cycles : 5). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914718 ms (missed cycles : 5).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 11.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms ×2 + 12.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998949 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998949 ms (missed cycles : 3).[0m ×2 + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 12.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 13.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831634 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831634 ms (missed cycles : 2).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 13.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms ×2 + 14.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 14.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399534 ms (missed cycles : 4). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399534 ms (missed cycles : 4).[0m ×2 + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.081ms + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067744 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067744 ms (missed cycles : 4).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 16.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487089 ms (missed cycles : 6). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487089 ms (missed cycles : 6).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775940 ms (missed cycles : 5). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775940 ms (missed cycles : 5).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 18.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 18.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670463 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670463 ms (missed cycles : 2).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227675 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227675 ms (missed cycles : 4).[0m ×2 + 19.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 20.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504713 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504713 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.401ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 21.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676307 ms (missed cycles : 4). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676307 ms (missed cycles : 4).[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 22.31sWARNstate_estimatorOptimization exceeded the configured duration by 36394ns + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 22.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831825 ms (missed cycles : 2). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831825 ms (missed cycles : 2).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482197 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482197 ms (missed cycles : 3).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015170 ms (missed cycles : 7). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015170 ms (missed cycles : 7).[0m ×2 + 24.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994495 ms (missed cycles : 2). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994495 ms (missed cycles : 2).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.713ms + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 26.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819337 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819337 ms (missed cycles : 2).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.604ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681167 ms (missed cycles : 5). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681167 ms (missed cycles : 5).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.488ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012353 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012353 ms (missed cycles : 3).[0m ×2 + 29.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.766767 ms (missed cycles : 11). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.766767 ms (missed cycles : 11).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.692831 ms (missed cycles : 6). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.692831 ms (missed cycles : 6).[0m ×2 + 31.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.864ms + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683783 ms (missed cycles : 5). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683783 ms (missed cycles : 5).[0m ×2 + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361971 ms (missed cycles : 3). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361971 ms (missed cycles : 3).[0m ×2 + 33.47sWARNstate_estimatorOptimization exceeded the configured duration by 60207362ns + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.691ms + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583606 ms (missed cycles : 4). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583606 ms (missed cycles : 4).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796548 ms (missed cycles : 3). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796548 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173706 ms (missed cycles : 2). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173706 ms (missed cycles : 2).[0m ×2 + 36.56sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.58sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input contour must have at least 3 points. ×3 + 36.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784913069.42830348 seconds ×3 + 36.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.462ms + 36.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.967ms + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378249 ms (missed cycles : 6). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378249 ms (missed cycles : 6).[0m ×2 + 37.26sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 15.368ms + 37.27sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784913070.11627197 seconds. ×3 + 37.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.328ms + 37.61sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 37.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.452ms + 37.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.956ms + 38.14sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.558ms + 38.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.078ms + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839952 ms (missed cycles : 2). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839952 ms (missed cycles : 2).[0m ×2 + 38.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.226ms + 38.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.853ms + 38.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.694ms + 38.94sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.827ms + 39.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.894ms + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250557 ms (missed cycles : 5). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250557 ms (missed cycles : 5).[0m ×2 + 39.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.978ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.1s | 9 errors · 159 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.744ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260624 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260624 ms (missed cycles : 4).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 5.575ms + 0.52sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.348ms + 0.81sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.333ms + 1.00sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.539ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855151 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855151 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.474ms + 1.40sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.747ms + 1.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=1.51); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=1.51); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 3.147ms + 1.91sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.478ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420750 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420750 ms (missed cycles : 4).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.160ms + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.680ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215120 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215120 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 3.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=1.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=1.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.609ms + 3.76sINFOjoint_trajectory_controllerGot request to cancel goal + 3.76sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784913080.18705297 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 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415072 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415072 ms (missed cycles : 5).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784913080.74488187 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136470 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136470 ms (missed cycles : 5).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 5.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.425ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 5.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779695 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779695 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555383 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555383 ms (missed cycles : 4).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.477ms + 7.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.726ms + 7.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.96); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.96); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996158 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996158 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102144 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102144 ms (missed cycles : 4).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 9.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316901 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316901 ms (missed cycles : 2).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms ×2 + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959299 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959299 ms (missed cycles : 3).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 12.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130102 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130102 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.352ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 14.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.587ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121331 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121331 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119029 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119029 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 16.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.536434 ms (missed cycles : 6). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.536434 ms (missed cycles : 6).[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.592ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147910 ms (missed cycles : 4). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147910 ms (missed cycles : 4).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.148ms + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 18.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=0.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=0.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.866055 ms (missed cycles : 7). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.866055 ms (missed cycles : 7).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186797 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186797 ms (missed cycles : 2).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.518ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 20.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.2 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.2 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.096ms + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928157 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928157 ms (missed cycles : 2).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.519226 ms (missed cycles : 7). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.519226 ms (missed cycles : 7).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms + 22.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.2 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.2 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.213ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909628 ms (missed cycles : 3). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909628 ms (missed cycles : 3).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.631ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995011 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995011 ms (missed cycles : 3).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 24.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704207 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704207 ms (missed cycles : 2).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804871 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804871 ms (missed cycles : 2).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.780ms + 26.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.4 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.4 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.902ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182643 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182643 ms (missed cycles : 2).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.736ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216588 ms (missed cycles : 3). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216588 ms (missed cycles : 3).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 28.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.6 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.6 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100160 ms (missed cycles : 2). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100160 ms (missed cycles : 2).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.858ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.765ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 30.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 33.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 33.53sINFOjoint_trajectory_controllerGoal reached, success! + 33.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.85sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.86sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 34.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 34.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 34.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 34.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 35.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 35.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 35.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 35.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 36.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 36.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 36.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 214 warnings · 251 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 1.54sINFOobjective_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 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784912943.06897020 seconds ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784912943.63485765 seconds. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2).[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257178 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257178 ms (missed cycles : 2).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543144 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543144 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154590 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154590 ms (missed cycles : 3).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 10.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216656 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216656 ms (missed cycles : 3).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625957 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625957 ms (missed cycles : 4).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 12.38sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621913 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621913 ms (missed cycles : 3).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568775 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568775 ms (missed cycles : 4).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.123528 ms (missed cycles : 7). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.123528 ms (missed cycles : 7).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693015 ms (missed cycles : 5). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693015 ms (missed cycles : 5).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 16.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022705 ms (missed cycles : 5). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022705 ms (missed cycles : 5).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms ×2 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960448 ms (missed cycles : 6). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960448 ms (missed cycles : 6).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165087 ms (missed cycles : 4). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165087 ms (missed cycles : 4).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.344ms ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158426 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158426 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.694ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347292 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347292 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167497 ms (missed cycles : 5). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167497 ms (missed cycles : 5).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375672 ms (missed cycles : 3). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375672 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808482 ms (missed cycles : 6). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808482 ms (missed cycles : 6).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674195 ms (missed cycles : 2). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674195 ms (missed cycles : 2).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352165 ms (missed cycles : 6). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352165 ms (missed cycles : 6).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.407ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271305 ms (missed cycles : 2). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271305 ms (missed cycles : 2).[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.664ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657099 ms (missed cycles : 5). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657099 ms (missed cycles : 5).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931810 ms (missed cycles : 2). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931810 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729161 ms (missed cycles : 3). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729161 ms (missed cycles : 3).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.982869 ms (missed cycles : 6). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.982869 ms (missed cycles : 6).[0m ×2 + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.658ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985428 ms (missed cycles : 3). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985428 ms (missed cycles : 3).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762662 ms (missed cycles : 5). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762662 ms (missed cycles : 5).[0m ×2 + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224650 ms (missed cycles : 2). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224650 ms (missed cycles : 2).[0m ×2 + 34.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 35.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.42sWARNstate_estimatorOptimization exceeded the configured duration by 56880023ns + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898524 ms (missed cycles : 4). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898524 ms (missed cycles : 4).[0m ×2 + 35.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 36.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287967 ms (missed cycles : 5). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287967 ms (missed cycles : 5).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479233 ms (missed cycles : 2). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479233 ms (missed cycles : 2).[0m ×2 + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959795 ms (missed cycles : 7). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959795 ms (missed cycles : 7).[0m ×2 + 38.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060043 ms (missed cycles : 2). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060043 ms (missed cycles : 2).[0m ×2 + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484054 ms (missed cycles : 3). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484054 ms (missed cycles : 3).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.769ms + 41.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226924 ms (missed cycles : 4). + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226924 ms (missed cycles : 4).[0m ×2 + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.742ms + 42.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629686 ms (missed cycles : 3). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629686 ms (missed cycles : 3).[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077032 ms (missed cycles : 4). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077032 ms (missed cycles : 4).[0m ×2 + 44.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966694 ms (missed cycles : 3). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966694 ms (missed cycles : 3).[0m ×2 + 45.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384266 ms (missed cycles : 5). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384266 ms (missed cycles : 5).[0m ×2 + 46.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.740ms + 46.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 46.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657143 ms (missed cycles : 4). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657143 ms (missed cycles : 4).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541498 ms (missed cycles : 3). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541498 ms (missed cycles : 3).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 48.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022408 ms (missed cycles : 3). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022408 ms (missed cycles : 3).[0m ×2 + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222369 ms (missed cycles : 2). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222369 ms (missed cycles : 2).[0m ×2 + 50.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210318 ms (missed cycles : 4). + 51.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210318 ms (missed cycles : 4).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388694 ms (missed cycles : 3). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388694 ms (missed cycles : 3).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 52.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613096 ms (missed cycles : 2). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613096 ms (missed cycles : 2).[0m ×2 + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311386 ms (missed cycles : 2). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311386 ms (missed cycles : 2).[0m ×2 + 54.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738577 ms (missed cycles : 2). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738577 ms (missed cycles : 2).[0m ×2 + 55.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670745 ms (missed cycles : 2). + 56.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670745 ms (missed cycles : 2).[0m ×2 + 57.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 57.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 58.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 59.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 59.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 59.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 60.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 60.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 60.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 61.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 61.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 61.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 61.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 61.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 61.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 61.61sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 61.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 62.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 62.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 62.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 63.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.0s | 6 errors · 268 warnings · 230 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms ×2 + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 6.82sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.693ms + 7.00sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.144ms + 7.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.22sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.112ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921743 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921743 ms (missed cycles : 3).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.856ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293088 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293088 ms (missed cycles : 2).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.018ms + 9.02sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.891ms + 9.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.2 s (AMCL untrusted, spread=1.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.2 s (AMCL untrusted, spread=1.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.495ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633663 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633663 ms (missed cycles : 4).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.690ms + 9.91sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.707ms + 10.11sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 3.343ms + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082523 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082523 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.922ms + 10.72sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.816ms + 10.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 11.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.2 s (AMCL untrusted, spread=1.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.2 s (AMCL untrusted, spread=1.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664621 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664621 ms (missed cycles : 5).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475159 ms (missed cycles : 7). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475159 ms (missed cycles : 7).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 13.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.2 s (AMCL untrusted, spread=1.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.2 s (AMCL untrusted, spread=1.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459784 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459784 ms (missed cycles : 2).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168013 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168013 ms (missed cycles : 2).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 15.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.4 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.4 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883293 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883293 ms (missed cycles : 2).[0m ×2 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385305 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385305 ms (missed cycles : 3).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.498ms + 17.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.6 s (AMCL untrusted, spread=1.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.6 s (AMCL untrusted, spread=1.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543015 ms (missed cycles : 6). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543015 ms (missed cycles : 6).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126060 ms (missed cycles : 3). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126060 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984328 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984328 ms (missed cycles : 3).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.289ms + 19.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 59.8 s (AMCL untrusted, spread=1.73); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 59.8 s (AMCL untrusted, spread=1.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745655 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745655 ms (missed cycles : 2).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 21.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 61.8 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 61.8 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878039 ms (missed cycles : 4). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878039 ms (missed cycles : 4).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.468ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.568ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894017 ms (missed cycles : 5). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894017 ms (missed cycles : 5).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.239ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 23.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 63.8 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 63.8 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141038 ms (missed cycles : 2). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141038 ms (missed cycles : 2).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065635 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065635 ms (missed cycles : 2).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 25.32sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887879 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887879 ms (missed cycles : 2).[0m ×2 + 26.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641086 ms (missed cycles : 4). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641086 ms (missed cycles : 4).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698375 ms (missed cycles : 2). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698375 ms (missed cycles : 2).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 28.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.330ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554788 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554788 ms (missed cycles : 2).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035634 ms (missed cycles : 5). + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.718ms + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035634 ms (missed cycles : 5).[0m ×2 + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.907ms + 30.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.4 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.4 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086419 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086419 ms (missed cycles : 2).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190296 ms (missed cycles : 2). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190296 ms (missed cycles : 2).[0m ×2 + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 32.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796352 ms (missed cycles : 5). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796352 ms (missed cycles : 5).[0m ×2 + 33.32sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.65sWARNstate_estimatorOptimization exceeded the configured duration by 63775427ns + 33.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.692ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267376 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267376 ms (missed cycles : 2).[0m ×2 + 34.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.6 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.6 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.782ms + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282981 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282981 ms (missed cycles : 2).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677858 ms (missed cycles : 2). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677858 ms (missed cycles : 2).[0m ×2 + 36.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.8 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.8 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985893 ms (missed cycles : 2). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985893 ms (missed cycles : 2).[0m ×2 + 37.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444217 ms (missed cycles : 2). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444217 ms (missed cycles : 2).[0m ×2 + 38.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.965ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016646 ms (missed cycles : 3). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016646 ms (missed cycles : 3).[0m ×2 + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095451 ms (missed cycles : 3). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095451 ms (missed cycles : 3).[0m ×2 + 40.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 40.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 80.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 80.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982701 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982701 ms (missed cycles : 2).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.028888 ms (missed cycles : 7). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.028888 ms (missed cycles : 7).[0m ×2 + 42.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 43.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030324 ms (missed cycles : 5). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030324 ms (missed cycles : 5).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941481 ms (missed cycles : 3). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941481 ms (missed cycles : 3).[0m ×2 + 44.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.020ms + 45.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582148 ms (missed cycles : 5). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582148 ms (missed cycles : 5).[0m ×2 + 46.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.822ms + 46.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131790 ms (missed cycles : 5). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131790 ms (missed cycles : 5).[0m ×2 + 47.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955661 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955661 ms (missed cycles : 2).[0m ×2 + 47.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.871413 ms (missed cycles : 6). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.871413 ms (missed cycles : 6).[0m ×2 + 49.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731689 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731689 ms (missed cycles : 2).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325411 ms (missed cycles : 2). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325411 ms (missed cycles : 2).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.335ms + 51.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099700 ms (missed cycles : 4). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099700 ms (missed cycles : 4).[0m ×2 + 53.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536635 ms (missed cycles : 3). + 53.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536635 ms (missed cycles : 3).[0m ×2 + 53.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 53.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573255 ms (missed cycles : 6). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573255 ms (missed cycles : 6).[0m ×2 + 54.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.677ms + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073075 ms (missed cycles : 3). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073075 ms (missed cycles : 3).[0m ×2 + 55.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 55.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751703 ms (missed cycles : 2). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751703 ms (missed cycles : 2).[0m ×2 + 57.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964611 ms (missed cycles : 2). + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964611 ms (missed cycles : 2).[0m ×2 + 57.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.330ms + 57.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 58.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077144 ms (missed cycles : 2). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077144 ms (missed cycles : 2).[0m ×2 + 58.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.522ms + 58.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784913165.35514140 seconds ×3 + 59.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.899ms + 59.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.874ms + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074857 ms (missed cycles : 2). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074857 ms (missed cycles : 2).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.145ms + 59.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784913165.92472219 seconds. ×3 + 59.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.138ms + 59.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.002ms + 59.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 59.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.018ms + 60.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=5.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=5.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.392ms + 60.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217729 ms (missed cycles : 3). + 60.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217729 ms (missed cycles : 3).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.057ms + 60.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.718ms + 61.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082577 ms (missed cycles : 2). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082577 ms (missed cycles : 2).[0m ×2 + 61.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.046ms + 61.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.442ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 148 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.56sINFOmove_groupClearing octomap...[0m ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.42sINFOobjective_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 + 3.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.30sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681466 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681466 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.378ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609797 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609797 ms (missed cycles : 4).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452589 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452589 ms (missed cycles : 3).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961093 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961093 ms (missed cycles : 2).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975946 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975946 ms (missed cycles : 3).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946599 ms (missed cycles : 7). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946599 ms (missed cycles : 7).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837109 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837109 ms (missed cycles : 3).[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193217 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193217 ms (missed cycles : 2).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808954 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808954 ms (missed cycles : 3).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998257 ms (missed cycles : 6). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998257 ms (missed cycles : 6).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710674 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710674 ms (missed cycles : 2).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.126ms + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642309 ms (missed cycles : 6). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642309 ms (missed cycles : 6).[0m ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181121 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181121 ms (missed cycles : 2).[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130227 ms (missed cycles : 4). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130227 ms (missed cycles : 4).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928818 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928818 ms (missed cycles : 3).[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367269 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367269 ms (missed cycles : 2).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228690 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228690 ms (missed cycles : 2).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695257 ms (missed cycles : 2). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695257 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865086 ms (missed cycles : 4). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865086 ms (missed cycles : 4).[0m ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508077 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508077 ms (missed cycles : 3).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639078 ms (missed cycles : 4). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639078 ms (missed cycles : 4).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895509 ms (missed cycles : 3). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895509 ms (missed cycles : 3).[0m ×2 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797035 ms (missed cycles : 2). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797035 ms (missed cycles : 2).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254402 ms (missed cycles : 4). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254402 ms (missed cycles : 4).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933702 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933702 ms (missed cycles : 2).[0m ×2 + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244343 ms (missed cycles : 2). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244343 ms (missed cycles : 2).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329607 ms (missed cycles : 4). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329607 ms (missed cycles : 4).[0m ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914553 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914553 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035219 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035219 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030815 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030815 ms (missed cycles : 2).[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983498 ms (missed cycles : 4). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983498 ms (missed cycles : 4).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948328 ms (missed cycles : 4). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948328 ms (missed cycles : 4).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456399 ms (missed cycles : 5). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456399 ms (missed cycles : 5).[0m ×2 + 40.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689219 ms (missed cycles : 5). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689219 ms (missed cycles : 5).[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826786 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826786 ms (missed cycles : 2).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108543 ms (missed cycles : 2). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108543 ms (missed cycles : 2).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4).[0m ×2 + 47.08sINFOjoint_trajectory_controllerGoal reached, success! + 47.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 47.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 47.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 47.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 47.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 48.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 48.62sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 48.62sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 49.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 140 warnings · 189 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 0.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.101ms + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.552ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107802 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107802 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.696ms + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=1.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=1.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784913004.71241140 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316000 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316000 ms (missed cycles : 2).[0m ×2 + 3.54sWARNstate_estimatorOptimization exceeded the configured duration by 67624946ns + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569191 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569191 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784913006.29814816 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 4.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 25.8 s (AMCL untrusted, spread=1.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 25.8 s (AMCL untrusted, spread=1.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025318 ms (missed cycles : 4). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025318 ms (missed cycles : 4).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938728 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938728 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.0 s (AMCL untrusted, spread=2.11); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.0 s (AMCL untrusted, spread=2.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755049 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755049 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 5.467ms + 7.90sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 4.296ms + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.674982 ms (missed cycles : 6). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.674982 ms (missed cycles : 6).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 3.452ms + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281280 ms (missed cycles : 5). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281280 ms (missed cycles : 5).[0m ×2 + 9.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.2 s (AMCL untrusted, spread=0.91); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.2 s (AMCL untrusted, spread=0.91); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.072ms + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.690ms + 9.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 9.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms ×2 + 9.80sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189154 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189154 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401158 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401158 ms (missed cycles : 3).[0m ×2 + 11.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.4 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.4 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204973 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204973 ms (missed cycles : 2).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913764 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913764 ms (missed cycles : 2).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 13.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341025 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341025 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771676 ms (missed cycles : 3). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771676 ms (missed cycles : 3).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721838 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721838 ms (missed cycles : 5).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884794 ms (missed cycles : 5). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884794 ms (missed cycles : 5).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889695 ms (missed cycles : 4). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889695 ms (missed cycles : 4).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669042 ms (missed cycles : 3). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669042 ms (missed cycles : 3).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166486 ms (missed cycles : 4). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166486 ms (missed cycles : 4).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945822 ms (missed cycles : 6). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945822 ms (missed cycles : 6).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.491ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530333 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530333 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.507ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.358ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630663 ms (missed cycles : 6). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630663 ms (missed cycles : 6).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.763ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952156 ms (missed cycles : 3). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952156 ms (missed cycles : 3).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513007 ms (missed cycles : 6). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513007 ms (missed cycles : 6).[0m ×2 + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376004 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376004 ms (missed cycles : 2).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.748ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772925 ms (missed cycles : 5). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772925 ms (missed cycles : 5).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.776ms + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555631 ms (missed cycles : 3). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555631 ms (missed cycles : 3).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.724ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.535ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698314 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698314 ms (missed cycles : 2).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.409ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2).[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.982ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 32.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3).[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 34.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784913036.55829954 seconds ×3 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 34.76sWARNstate_estimatorOptimization exceeded the configured duration by 84131360ns + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2).[0m ×2 + 35.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.520ms + 35.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784913037.11810327 seconds. ×3 + 35.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.072ms + 35.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.445ms + 35.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.184ms + 35.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7).[0m ×2 + 36.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 36.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.323ms + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 36.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.499ms + 36.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.999ms + 36.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.729ms + 36.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.777ms + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2).[0m ×2 + 37.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 37.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.685ms + 37.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.352ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 87 warnings · 151 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073075 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 0.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751703 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751703 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964611 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964611 ms (missed cycles : 2).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.330ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 2.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077144 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077144 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.522ms + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.73sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784913165.35514140 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.899ms + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.874ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074857 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074857 ms (missed cycles : 2).[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.145ms + 4.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784913165.92472219 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.138ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.002ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.018ms + 4.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=5.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=5.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.392ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217729 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217729 ms (missed cycles : 3).[0m ×2 + 5.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.057ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.718ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082577 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082577 ms (missed cycles : 2).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.046ms + 6.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.442ms + 7.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.2 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.2 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971999 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971999 ms (missed cycles : 5).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.544ms + 7.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.705ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121097 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121097 ms (missed cycles : 4).[0m ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (1.06e-06 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (8.4e-07 s). ×2 + 9.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.4 s (AMCL untrusted, spread=5.11); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.4 s (AMCL untrusted, spread=5.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.781674 ms (missed cycles : 6). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.781674 ms (missed cycles : 6).[0m ×2 + 9.47sINFOobjective_server_nodeFound path in 69 iterations (0.0504367 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 10.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3).[0m ×2 + 10.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.69sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347553 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347553 ms (missed cycles : 2).[0m ×2 + 11.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.6 s (AMCL untrusted, spread=5.08); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.6 s (AMCL untrusted, spread=5.08); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.960ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133055 ms (missed cycles : 7). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133055 ms (missed cycles : 7).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.829ms + 13.00sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.498ms + 13.30sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.755ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3).[0m ×2 + 13.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.786ms + 13.91sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.132ms + 14.18sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.255ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.062ms + 14.81sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.199ms + 15.11sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.360ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3).[0m ×2 + 15.51sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.554ms + 15.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.169ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3).[0m ×2 + 16.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784913178.28262138 seconds ×3 + 17.01sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.653ms + 17.18sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.554ms + 17.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784913178.87197733 seconds. ×3 + 17.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.29sINFOmove_groupClearing octomap...[0m ×2 + 17.29sINFOmove_groupOctomap cleared.[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.923ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.699ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 17.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 19.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784913180.64214420 seconds ×3 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 19.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.070ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3).[0m ×2 + 19.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784913181.19913912 seconds. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.4s | 95 errors · 55 warnings · 458 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.360ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.554ms + 0.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.169ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3).[0m ×2 + 1.55sINFOjoint_trajectory_controllerGoal reached, success! + 1.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784913178.28262138 seconds ×3 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.653ms + 2.08sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.554ms + 2.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784913178.87197733 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.923ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.699ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784913180.64214420 seconds ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.070ms + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784913181.19913912 seconds. ×3 + 4.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.403ms + 4.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=4.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=4.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.279ms + 4.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.392ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.601ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.833ms + 5.40sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.106ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264288 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264288 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784913182.22928286 seconds ×3 + 5.59sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.188ms + 5.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.007ms + 6.19sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 3.925ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929323 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929323 ms (missed cycles : 3).[0m ×2 + 6.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.2 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.2 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.28sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.615ms + 7.35sWARNstate_estimatorOptimization exceeded the configured duration by 79213355ns + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340023 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340023 ms (missed cycles : 4).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953997 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953997 ms (missed cycles : 2).[0m ×2 + 9.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.4 s (AMCL untrusted, spread=2.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.4 s (AMCL untrusted, spread=2.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838558 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838558 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670286 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670286 ms (missed cycles : 2).[0m ×2 + 11.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.4 s (AMCL untrusted, spread=2.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.4 s (AMCL untrusted, spread=2.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010722 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010722 ms (missed cycles : 2).[0m ×2 + 11.95sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 11.99sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORweb_video_auth_proxy-36process has died [pid 13792, 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 + 12.00sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 12.02sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORweb_bridge_auth_proxy-35process has died [pid 13791, 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 + 12.03sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 12.11sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 12.14sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 12.16sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 12.18sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 12.21sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 12.23sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 12.26sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 12.28sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 12.29sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 12.32sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 12.35sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 12.38sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 12.40sINFOweb_video_server-34process has finished cleanly [pid 13788] ×2 + 12.41sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 12.43sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13772] ×2 + 12.45sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 12.45sINFOcontroller_managerShutdown request received.... + 12.45sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.45sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.45sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.45sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.45sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.45sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.45sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.46sINFOcontroller_managerShutting down the controller manager. + 12.48sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 12.49sERRORui_teleop_bridge-31process has died [pid 13767, 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_u2eay1pk']. ×2 + 12.49sERRORmove_group-22process has died [pid 13740, 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_iv22861f --params-file /tmp/launch_params_1e5i9r8j --params-file /tmp/launch_params_m6gf8p5i --params-file /tmp/launch_params_z64m_twr --params-file /tmp/launch_params_hywguhkl --params-file /tmp/launch_params_vk20hjdx']. ×2 + 12.51sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.52sINFOcomponent_container_mt-29process has finished cleanly [pid 13762] ×2 + 12.54sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.56sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 12.56sINFOexecute_objective_bridge-30process has finished cleanly [pid 13766] ×2 + 12.58sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 12.61sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 12.63sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 12.63sERRORobjective_server_node_main-27process has died [pid 13760, 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_6bfgucse --params-file /tmp/launch_params__8jd62ko --params-file /tmp/launch_params_spwlo7z8 --params-file /tmp/launch_params_50h_6g1y --params-file /tmp/launch_params_zhb0s8fv --params-file /tmp/launch_params_x1cua_6h --params-file /tmp/launch_params_dk2ziwna --params-file /tmp/launch_params_iguyzp0l --params-file /tmp/launch_params_19cmsuug']. ×2 + 12.65sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.67sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.67sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.67sINFOcontroller_serverCleaning up + 12.68sINFOlocal_costmap.local_costmapCleaning up + 12.68sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.68sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.68sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.68sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.68sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.68sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.68sINFOui_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 ×2 + 12.68sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.68sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.68sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.68sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.68sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.68sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.68sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.68sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 17:13:08.956] signal_handler(SIGINT/SIGTERM)[0m ×2 + 12.68sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 12.69sINFOobjective_server_node[2026-07-24 17:13:09.101] [moveit_pro_license] [info] ×2 + 12.69sINFOobjective_server_node************************************************* ×4 + 12.69sINFOobjective_server_node* MoveIt Pro License ×2 + 12.69sINFOobjective_server_node* Application has successfully terminated ×2 + 12.69sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.69sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.69sERRORmove_groupStack trace (most recent call last) in thread 14379: ×2 + 12.69sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.69sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd6e2d55a63, in __clone ×2 + 12.69sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd6e2cc8aa3, in ×2 + 12.69sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd6e2f5adb3, in ×2 + 12.69sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd6e369ded7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.69sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6e32cd4d0, in rclcpp::Rate::sleep() ×2 + 12.69sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6e3220a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.69sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6e31e5a71, in ×2 + 12.69sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd6e2f29390, in __cxa_throw ×2 + 12.69sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd6e2f13a54, in std::terminate() ×2 + 12.69sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd6e2f290d9, in ×2 + 12.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd6e2f13ff4, in ×2 + 12.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd6e2c548fe, in abort ×2 + 12.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd6e2c7127d, in raise ×2 + 12.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd6e2ccab2c, in pthread_kill ×2 + 12.70sERRORmove_groupAborted (Signal sent by tkill() 13740 0) ×2 + 12.70sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.70sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.70sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.70sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.70sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.70sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.70sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.70sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.70sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.70sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 12.70sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.70sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5590296896a4, in _start ×2 + 12.70sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe39793328a, in __libc_start_main ×2 + 12.70sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3979331d0, in ×2 + 12.70sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe397950bbd, in exit ×2 + 12.70sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe397950a75, in ×2 + 12.70sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fe397e1f8f5, in spdlog::details::registry::~registry() ×2 + 12.70sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559029689d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.70sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559029690315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.70sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55902968f5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.70sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55902968bb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.70sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559029689d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.70sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe3984d5454, in rclcpp::Node::~Node() ×2 + 12.70sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe398490515, in ×2 + 12.70sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe3984d3d20, in ×2 + 12.70sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe3984d3c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.70sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe3984905d9, in ×2 + 12.70sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe398495161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.70sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe3644e2090]) ×2 + 12.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.71sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.71sINFOodom_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> ×2 + 12.71sINFOodom_qos_relay.pymain() ×2 + 12.71sINFOodom_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 ×2 + 12.71sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.71sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.71sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.71sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.71sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.71sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.71sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.71sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 12.71sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 12.71sINFOodom_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 + 12.71sINFOodom_world_drift.pymain() ×2 + 12.71sINFOodom_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 + 12.71sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 12.71sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.71sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 12.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.72sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 12.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.72sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.72sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 12.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.72sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 12.72sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 12.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.72sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.72sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.72sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 12.72sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.72sINFOmap_serverDeactivating + 12.72sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.73sINFOmap_serverCleaning up + 12.73sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.73sINFOsmoother_serverCleaning up + 12.74sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 12.74sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.74sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 12.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.76sERRORamclThe bond connection to the lifecycle manager has been broken + 12.77sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.77sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 12.77sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.77sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 12.77sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.77sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 12.77sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.77sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 12.77sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.17sERRORcomponent_container_isolated-1process has died [pid 13633, 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_4ukrqkgs --params-file /tmp/launch_params_0sz9c59c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.36sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13759] ×2 + 13.39sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13758] ×2 + 13.46sINFOparameter_manager_node-23process has finished cleanly [pid 13741] ×2 + 13.47sINFOwaypoint_manager_node-24process has finished cleanly [pid 13757] ×2 + 13.49sINFOcomponent_container_mt-28process has finished cleanly [pid 13761] ×2 + 13.56sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13640] ×2 + 13.58sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13639] ×2 + 13.61sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13641] ×2 + 13.65sINFOslip_aware_odom-4process has finished cleanly [pid 13636] ×2 + 13.67sERRORodom_qos_relay.py-6process has died [pid 13638, 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 + 13.69sINFOstatic_transform_publisher-2process has finished cleanly [pid 13634] ×2 + 14.62sINFOamcl_odom_gate-5process has finished cleanly [pid 13637] ×2 + 14.72sERRORodom_world_drift.py-3process has died [pid 13635, 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_2iay1r5p']. ×2 + 15.11sINFOweb_bridge-32process has finished cleanly [pid 13768] ×2 + 15.11sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 + 15.28sINFOros2_control_node-10process has finished cleanly [pid 13726] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 9 errors · 70 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361971 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361971 ms (missed cycles : 3).[0m ×2 + 0.19sINFOjoint_trajectory_controllerGoal reached, success! + 0.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.38sWARNstate_estimatorOptimization exceeded the configured duration by 60207362ns + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.691ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583606 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583606 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796548 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796548 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173706 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173706 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 3.49sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input contour must have at least 3 points. ×3 + 3.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784913069.42830348 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.462ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.967ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378249 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378249 ms (missed cycles : 6).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 15.368ms + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784913070.11627197 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.328ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.452ms + 4.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.956ms + 5.05sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.558ms + 5.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.078ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839952 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839952 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.226ms + 5.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.853ms + 5.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.694ms + 5.85sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.827ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.894ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250557 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250557 ms (missed cycles : 5).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.978ms + 6.64sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.208ms + 6.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.623ms + 7.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.571ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893951 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893951 ms (missed cycles : 2).[0m ×2 + 7.45sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.360ms + 7.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=1.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=1.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.465ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856969 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856969 ms (missed cycles : 6).[0m ×2 + 8.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.843ms + 8.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.887ms + 9.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.265ms + 9.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.306ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433822 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433822 ms (missed cycles : 4).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.129ms + 9.73sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 4.287ms + 9.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 4.154ms + 10.26sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 5.715ms + 10.44sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.744ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260624 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260624 ms (missed cycles : 4).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 5.575ms + 10.96sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.348ms + 11.25sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.333ms + 11.44sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.539ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855151 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855151 ms (missed cycles : 2).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.474ms + 11.84sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.747ms + 12.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=1.51); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=1.51); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 3.147ms + 12.35sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.478ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420750 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420750 ms (missed cycles : 4).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.160ms + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.680ms + 13.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215120 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215120 ms (missed cycles : 3).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 14.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=1.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=1.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.609ms + 14.21sINFOjoint_trajectory_controllerGot request to cancel goal + 14.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784913080.18705297 seconds ×3 + 14.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415072 ms (missed cycles : 5). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415072 ms (missed cycles : 5).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 14.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784913080.74488187 seconds. ×3 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136470 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136470 ms (missed cycles : 5).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.425ms + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 16.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779695 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779695 ms (missed cycles : 2).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 58 warnings · 77 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.101ms + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.552ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107802 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107802 ms (missed cycles : 4).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.696ms + 8.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=1.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=1.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.23sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784913004.71241140 seconds ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316000 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316000 ms (missed cycles : 2).[0m ×2 + 9.05sWARNstate_estimatorOptimization exceeded the configured duration by 67624946ns + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569191 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569191 ms (missed cycles : 4).[0m ×2 + 9.82sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784913006.29814816 seconds. ×3 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 25.8 s (AMCL untrusted, spread=1.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 25.8 s (AMCL untrusted, spread=1.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025318 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025318 ms (missed cycles : 4).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938728 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938728 ms (missed cycles : 3).[0m ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 12.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.0 s (AMCL untrusted, spread=2.11); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.0 s (AMCL untrusted, spread=2.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 6.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784912943.06897020 seconds ×3 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 7.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784912943.63485765 seconds. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 9.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.4s | 37 warnings · 65 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.498ms + 0.30sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.755ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3).[0m ×2 + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.786ms + 0.92sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.132ms + 1.19sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.255ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.062ms + 1.81sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.199ms + 2.11sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.360ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.554ms + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.169ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784913178.28262138 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.653ms + 4.19sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.554ms + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784913178.87197733 seconds. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.29sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.923ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.699ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 6.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784913180.64214420 seconds ×3 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 6.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.070ms + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784913181.19913912 seconds. ×3 + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.403ms + 6.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=4.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=4.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.279ms + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.392ms + 7.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.601ms + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.833ms + 7.51sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.106ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264288 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264288 ms (missed cycles : 4).[0m ×2 + 7.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784913182.22928286 seconds ×3 + 7.70sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 4.188ms + 7.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.90sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.007ms + 8.30sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 3.925ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929323 ms (missed cycles : 3). | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.56sINFOmove_groupClearing octomap...[0m ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.42sINFOobjective_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 + 3.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.30sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 33 warnings · 45 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276117 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.614312 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185521 ms (missed cycles : 4).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912939.44152999 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510271 ms (missed cycles : 4).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912939.99881101 seconds. ×3 + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958286 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.882e-05 s). ×2 + 1.54sINFOobjective_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 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799278 ms (missed cycles : 2).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670213 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784912943.06897020 seconds ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784912943.63485765 seconds. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501676 ms (missed cycles : 2).[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761814 ms (missed cycles : 2).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186851 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 45 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 45 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 45 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 45 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874686 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929764 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875818 ms (missed cycles : 6).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784913000.08797407 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.037ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.513ms + 4.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784913000.66132975 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.615ms + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903901 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.993ms + 4.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.476ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.864ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.962ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931822 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.283ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.177ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434055 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 31 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.982ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 1.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 3.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784913036.55829954 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 3.90sWARNstate_estimatorOptimization exceeded the configured duration by 84131360ns + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.520ms + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784913037.11810327 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.072ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.445ms + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.184ms + 4.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7).[0m ×2 + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.323ms + 5.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 5.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.499ms + 5.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.999ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.729ms + 6.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.777ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 6.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.685ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.352ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 31 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.982ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 1.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 3.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784913036.55829954 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 3.90sWARNstate_estimatorOptimization exceeded the configured duration by 84131360ns + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.520ms + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784913037.11810327 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.072ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.445ms + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.184ms + 4.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7).[0m ×2 + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.323ms + 5.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 5.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.499ms + 5.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.999ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.729ms + 6.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.777ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 6.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.685ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.352ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 31 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775277 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.982ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471257 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 1.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376953 ms (missed cycles : 3).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369160 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 3.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784913036.55829954 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 3.90sWARNstate_estimatorOptimization exceeded the configured duration by 84131360ns + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.520ms + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784913037.11810327 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.072ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.445ms + 4.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.184ms + 4.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034979 ms (missed cycles : 7).[0m ×2 + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.323ms + 5.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.298ms + 5.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=4.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.499ms + 5.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.999ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.729ms + 6.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.777ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824776 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.571ms + 6.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.685ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.352ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 30 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.218ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334374 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.913ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581221 ms (missed cycles : 6).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245539 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909340 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784913110.24506998 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913480 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784913110.87498760 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487741 ms (missed cycles : 3).[0m ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 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: 1000 particles 723 points - 1.606ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113283 ms (missed cycles : 3).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 30 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.498ms + 0.30sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.755ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941338 ms (missed cycles : 3).[0m ×2 + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=4.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.786ms + 0.92sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.132ms + 1.19sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.255ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914050 ms (missed cycles : 6).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.062ms + 1.81sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.199ms + 2.11sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.360ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858180 ms (missed cycles : 3).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.554ms + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=4.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.169ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693458 ms (missed cycles : 3).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784913178.28262138 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.653ms + 4.19sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.554ms + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784913178.87197733 seconds. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.29sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.923ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102940 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.699ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868752 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 6.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784913180.64214420 seconds ×3 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 6.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.070ms + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353043 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784913181.19913912 seconds. ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.3s | 72 errors · 774 warnings · 1935 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/2026-07-24-17-02-08-235406-a3a2c0aa6f3c-9395 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.39sINFOros2_control_node-10process started with pid [9532] + 13.39sINFOmove_group-22process started with pid [9544] + 13.39sINFOparameter_manager_node-23process started with pid [9545] + 13.39sINFOwaypoint_manager_node-24process started with pid [9565] + 13.39sINFOmove_joint_resampler_node-25process started with pid [9566] + 13.39sINFOmove_end_effector_resampler_node-26process started with pid [9567] + 13.39sINFOobjective_server_node_main-27process started with pid [9568] + 13.39sINFOcomponent_container_mt-28process started with pid [9571] + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.41sINFOcomponent_container_mt-29process started with pid [9572] + 13.41sINFOexecute_objective_bridge-30process started with pid [9573] + 13.41sINFOui_teleop_bridge-31process started with pid [9576] + 13.41sINFOweb_bridge-32process started with pid [9579] + 13.41sINFOtf2_web_republisher_node-33process started with pid [9580] + 13.41sINFOweb_video_server-34process started with pid [9581] + 13.41sINFOweb_bridge_auth_proxy-35process started with pid [9582] + 13.41sINFOweb_video_auth_proxy-36process started with pid [9583] + 13.42sINFOcomponent_container_isolated-1process started with pid [9445] + 13.42sINFOstatic_transform_publisher-2process started with pid [9446] + 13.42sINFOodom_world_drift.py-3process started with pid [9447] + 13.42sINFOslip_aware_odom-4process started with pid [9448] + 13.42sINFOamcl_odom_gate-5process started with pid [9449] + 13.42sINFOodom_qos_relay.py-6process started with pid [9450] + 13.42sINFOscan_to_scan_filter_chain-7process started with pid [9451] + 13.42sINFOscan_to_scan_filter_chain-8process started with pid [9452] + 13.42sINFOfixed_lag_smoother_node-9process started with pid [9453] + 13.42sINFOros2-11process started with pid [9533] + 13.42sINFOros2-12process started with pid [9534] + 13.42sINFOros2-13process started with pid [9535] + 13.42sINFOros2-14process started with pid [9536] + 13.42sINFOros2-15process started with pid [9537] + 13.42sINFOros2-16process started with pid [9538] + 13.42sINFOros2-17process started with pid [9539] + 13.42sINFOros2-18process started with pid [9540] + 13.42sINFOros2-19process started with pid [9541] + 13.42sINFOros2-20process started with pid [9542] + 13.42sINFOros2-21process started with pid [9543] + 13.53sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.53sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.53sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.53sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.53sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.54sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.56sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.56sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.57sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.57sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.57sWARNros2_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 + 13.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.59sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.72sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.72sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.73sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949423 ms (missed cycles : 6).[0m + 13.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 14.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.13sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.15sWARNscan_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 + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 14.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.38sINFOmove_groupLoaded robot model in 0.7139 seconds[0m + 14.38sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.38sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.44sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950053 ms (missed cycles : 6).[0m + 15.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.17sWARNmove_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 + 15.17sWARNmove_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 + 15.18sWARNmove_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 + 15.19sWARNmove_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 + 15.20sWARNmove_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 + 15.20sWARNmove_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 + 15.21sWARNmove_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 + 15.21sWARNmove_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 + 15.30sINFOwaypoint_manager_nodeLoaded robot model in 0.461688 seconds[0m + 15.30sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.30sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×12 + 15.56sINFOmove_group[2026-07-24 17:02:26.991] [moveit_pro_license] [info] + 15.57sINFOmove_group************************************************* ×6 + 15.57sINFOmove_group* MoveIt Pro License ×3 + 15.57sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.88sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.88sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.88sWARNwaypoint_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 + 15.88sWARNwaypoint_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 + 15.88sWARNwaypoint_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 + 15.88sWARNwaypoint_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 + 15.89sWARNwaypoint_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 + 15.89sWARNwaypoint_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 + 15.89sWARNwaypoint_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 + 15.89sWARNwaypoint_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 + 15.89sWARNwaypoint_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 + 15.90sWARNwaypoint_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 + 15.90sWARNwaypoint_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 + 15.90sWARNwaypoint_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 + 15.90sWARNwaypoint_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 + 15.90sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.91sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.92sWARNwaypoint_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 + 15.93sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.93sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.93sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.93sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.93sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.93sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.94sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.94sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.94sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.94sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.94sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235003 ms (missed cycles : 2).[0m + 16.23sINFOwaypoint_manager_node[2026-07-24 17:02:27.659] [moveit_pro_license] [info] + 16.23sINFOwaypoint_manager_node************************************************* ×6 + 16.23sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.62sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 16.62sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.66sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 16.67sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 16.67sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 16.67sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 16.67sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 16.67sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 16.67sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 16.67sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 16.67sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 16.67sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 16.67sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 16.67sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 16.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 16.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 16.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 16.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 16.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 16.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 16.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 16.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.71sWARNros2_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 + 16.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 16.77sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 16.81sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 16.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 16.82sINFOros2_control_nodeconfigure successful[0m ×9 + 16.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 16.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.82sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678772 ms (missed cycles : 2).[0m + 17.15sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 17.16sINFOobjective_server_node[2026-07-24 17:02:28.581] [moveit_pro_license] [info] + 17.16sINFOobjective_server_node************************************************* ×8 + 17.16sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 17.16sINFOobjective_server_node* MoveIt Pro License ×4 + 17.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.16sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 17.16sINFOcomponent_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 + 17.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 17.17sINFOros2-14process has finished cleanly [pid 9536] + 17.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.21sWARNcomponent_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 + 17.22sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.22sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 17.29sINFOobjective_server_nodeLoaded robot model in 0.024686 seconds[0m + 17.29sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 17.29sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.37sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 17.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 17.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.44sINFOcomponent_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 + 17.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.55sINFOcomponent_container_mtLoaded robot model in 0.34272 seconds[0m + 17.56sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.60sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.60sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.64sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.64sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.64sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.64sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.64sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.65sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.68sWARNobjective_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 + 17.69sWARNobjective_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 + 17.69sWARNobjective_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 + 17.69sWARNobjective_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 + 17.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.70sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.70sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.74sINFOmove_group ×12 + 17.74sINFOmove_group******************************************************** ×6 + 17.74sINFOmove_group* MoveGroup using: ×3 + 17.74sINFOmove_group* - apply_planning_scene_service ×3 + 17.74sINFOmove_group* - clear_octomap_service ×3 + 17.74sINFOmove_group* - get_group_urdf ×3 + 17.74sINFOmove_group* - load_geometry_from_file ×3 + 17.74sINFOmove_group* - get_planning_scene_service ×3 + 17.74sINFOmove_group* - kinematics_service ×3 + 17.74sINFOmove_group* - save_geometry_to_file ×3 + 17.75sINFOmove_group* - GetPlanningGroups ×3 + 17.75sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.75sINFOmove_group[0m ×3 + 17.75sINFOmove_group[92mYou can start planning now![0m ×3 + 17.76sINFOobjective_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 + 17.76sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.78sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.78sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.98sWARNcomponent_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 + 17.98sWARNcomponent_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 + 17.98sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 17.99sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.00sWARNcomponent_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 + 18.01sWARNcomponent_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 + 18.01sWARNcomponent_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 + 18.01sWARNcomponent_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 + 18.01sWARNcomponent_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 + 18.14sINFOros2_control_node[2026-07-24 17:02:29.563] [info] Controller state will be published at 20 Hz. + 18.14sINFOros2_control_node[2026-07-24 17:02:29.565] [info] JointVelocityController 'on_configure' succeeded. + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113247 ms (missed cycles : 2).[0m + 18.29sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.31sINFOcomponent_container_mt[2026-07-24 17:02:29.735] [moveit_pro_license] [info] + 18.31sINFOcomponent_container_mt************************************************* ×6 + 18.31sINFOcomponent_container_mt* MoveIt Pro License ×3 + 18.31sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.48sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.48sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 18.48sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 18.51sINFOros2-21process has finished cleanly [pid 9543] + 18.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.56sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.57sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.57sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.59sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.62sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.63sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.80sWARNobjective_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 + 18.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 18.95sINFOros2-15process has finished cleanly [pid 9537] + 19.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 19.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 19.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 19.07sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 19.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 19.07sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 19.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 19.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244302 ms (missed cycles : 4).[0m + 19.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 19.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 19.40sINFOros2-17process has finished cleanly [pid 9539] + 19.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 19.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.77sINFOobjective_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 17:02:31.241] [info] Controller state will be published at 20 Hz. + 19.82sINFOros2_control_node[2026-07-24 17:02:31.242] [info] JointVelocityController 'on_configure' succeeded. + 20.19sINFOros2-20process has finished cleanly [pid 9542] + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552849 ms (missed cycles : 3).[0m + 20.44sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 20.44sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 20.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 20.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 20.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 20.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.85sINFOros2-11process has finished cleanly [pid 9533] + 21.09sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.09sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 21.18sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 21.22sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.22sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190940 ms (missed cycles : 3).[0m + 21.83sINFOros2_control_node[2026-07-24 17:02:33.258] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.84sINFOros2_control_node[2026-07-24 17:02:33.261] [info] Controller state will be published at 10 Hz. + 21.84sINFOros2_control_node[2026-07-24 17:02:33.263] [info] VelocityForceController 'on_configure' succeeded. + 22.17sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 22.17sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 22.18sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 22.22sINFOros2-19process has finished cleanly [pid 9541] + 22.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 22.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 22.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 22.26sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531166 ms (missed cycles : 2).[0m + 22.63sINFOros2-12process has finished cleanly [pid 9534] + 22.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 22.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 22.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 22.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 22.69sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 22.69sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 22.69sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 22.69sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 22.70sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 22.70sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 23.13sINFOros2-13process has finished cleanly [pid 9535] + 23.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 23.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 23.27sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 23.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876073 ms (missed cycles : 2).[0m + 23.61sINFOros2-16process has finished cleanly [pid 9538] + 23.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 23.86sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 23.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jvni0pd --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_9d3l3v_4 --params-file /tmp/launch_params_maisrhey [0m + 23.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 23.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 24.29sINFOros2_control_node[2026-07-24 17:02:35.711] [warning] No force/torque sensor configured. The VFC will ignore force references. + 24.29sINFOros2_control_node[2026-07-24 17:02:35.713] [info] Controller state will be published at 10 Hz. + 24.29sINFOros2_control_node[2026-07-24 17:02:35.714] [info] VelocityForceController 'on_configure' succeeded. + 24.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 24.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312603 ms (missed cycles : 4).[0m + 24.64sINFOros2-18process has finished cleanly [pid 9540] + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780709 ms (missed cycles : 5).[0m + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.923718 ms (missed cycles : 5).[0m + 26.72sINFOros2_control_nodeMuJoCo sim: 1.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398815 ms (missed cycles : 3).[0m + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362861 ms (missed cycles : 4).[0m + 29.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912560.95110726 seconds. + 29.53sINFOmove_groupClearing octomap...[0m ×4 + 29.53sINFOmove_groupOctomap cleared.[0m ×4 + 29.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912560.96143341 seconds + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202820 ms (missed cycles : 2).[0m + 30.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912561.51750565 seconds. + 30.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912561.52767706 seconds + 30.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912562.08968306 seconds. + 30.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912562.24045444 seconds + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174437 ms (missed cycles : 3).[0m + 31.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912562.81774068 seconds. + 31.42sINFOobjective_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 + 31.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 31.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 31.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 31.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912562.88792086 seconds + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045468 ms (missed cycles : 5).[0m + 32.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912563.44122934 seconds. + 32.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 32.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 32.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 32.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921288 ms (missed cycles : 3).[0m + 33.08sINFOobjective_server_nodePlanning for 177 path waypoints. + 33.53sINFOros2_control_nodeReceived new action goal[0m ×13 + 33.53sINFOros2_control_nodeAccepted new action goal[0m ×13 + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379502 ms (missed cycles : 4).[0m + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510826 ms (missed cycles : 4).[0m + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779570 ms (missed cycles : 4).[0m + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984263 ms (missed cycles : 2).[0m + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648225 ms (missed cycles : 2).[0m + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139020 ms (missed cycles : 2).[0m + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088413 ms (missed cycles : 4).[0m + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.066725 ms (missed cycles : 7).[0m + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826502 ms (missed cycles : 2).[0m + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718268 ms (missed cycles : 3).[0m + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462161 ms (missed cycles : 5).[0m + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917762 ms (missed cycles : 2).[0m + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269137 ms (missed cycles : 5).[0m + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338575 ms (missed cycles : 5).[0m + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404498 ms (missed cycles : 3).[0m + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934105 ms (missed cycles : 2).[0m + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563161 ms (missed cycles : 5).[0m + 51.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.323582 ms (missed cycles : 5).[0m + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160606 ms (missed cycles : 2).[0m + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942675 ms (missed cycles : 2).[0m + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865301 ms (missed cycles : 3).[0m + 55.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824253 ms (missed cycles : 4).[0m + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281510 ms (missed cycles : 4).[0m + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483666 ms (missed cycles : 4).[0m + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154613 ms (missed cycles : 2).[0m + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748594 ms (missed cycles : 3).[0m + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992444 ms (missed cycles : 2).[0m + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199551 ms (missed cycles : 2).[0m + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545975 ms (missed cycles : 3).[0m + 63.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078909 ms (missed cycles : 2).[0m + 64.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469986 ms (missed cycles : 3).[0m + 66.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464983 ms (missed cycles : 4).[0m + 67.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538046 ms (missed cycles : 4).[0m + 68.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464721 ms (missed cycles : 3).[0m + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757890 ms (missed cycles : 2).[0m + 70.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515695 ms (missed cycles : 3).[0m + 71.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660635 ms (missed cycles : 3).[0m + 72.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074101 ms (missed cycles : 5).[0m + 73.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966501 ms (missed cycles : 3).[0m + 74.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424636 ms (missed cycles : 4).[0m + 75.20sINFOros2_control_nodeGoal reached, success![0m ×12 + 75.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784912606.65703058 seconds + 75.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863397 ms (missed cycles : 3).[0m + 75.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784912607.21153522 seconds. + 76.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789738 ms (missed cycles : 4).[0m + 76.77sINFOobjective_server_nodeFound path in 0 iterations (2.881e-05 s). + 76.77sINFOobjective_server_nodePath shortcutter: [X____X] + 76.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 77.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.596511 ms (missed cycles : 4).[0m + 78.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431238 ms (missed cycles : 3).[0m + 78.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784912610.32167673 seconds + 79.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204873 ms (missed cycles : 2).[0m + 79.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784912610.87697840 seconds. + 79.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×3 + 80.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690253 ms (missed cycles : 2).[0m + 81.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 81.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738299 ms (missed cycles : 3).[0m + 82.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284959 ms (missed cycles : 2).[0m + 83.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115808 ms (missed cycles : 5).[0m + 84.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898432 ms (missed cycles : 8).[0m + 85.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803607 ms (missed cycles : 3).[0m + 86.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122258 ms (missed cycles : 5).[0m + 86.74sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m + 87.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143004 ms (missed cycles : 3).[0m + 88.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927861 ms (missed cycles : 3).[0m + 89.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753299 ms (missed cycles : 5).[0m + 90.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393049 ms (missed cycles : 4).[0m + 91.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492684 ms (missed cycles : 3).[0m + 92.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678979 ms (missed cycles : 2).[0m + 93.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102050 ms (missed cycles : 2).[0m + 94.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885084 ms (missed cycles : 6).[0m + 95.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212290 ms (missed cycles : 5).[0m + 96.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782363 ms (missed cycles : 3).[0m + 97.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891856 ms (missed cycles : 2).[0m + 98.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986343 ms (missed cycles : 3).[0m + 99.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165675 ms (missed cycles : 3).[0m +101.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951525 ms (missed cycles : 2).[0m +102.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684468 ms (missed cycles : 3).[0m +103.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377593 ms (missed cycles : 4).[0m +104.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008773 ms (missed cycles : 2).[0m +105.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795423 ms (missed cycles : 3).[0m +106.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774249 ms (missed cycles : 2).[0m +107.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123067 ms (missed cycles : 2).[0m +108.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133441 ms (missed cycles : 2).[0m +109.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903559 ms (missed cycles : 2).[0m +110.10sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +110.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537937 ms (missed cycles : 3).[0m +111.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271186 ms (missed cycles : 5).[0m +112.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491510 ms (missed cycles : 3).[0m +113.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964411 ms (missed cycles : 3).[0m +114.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896282 ms (missed cycles : 2).[0m +115.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919063 ms (missed cycles : 3).[0m +116.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828551 ms (missed cycles : 3).[0m +117.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729578 ms (missed cycles : 4).[0m +118.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814677 ms (missed cycles : 3).[0m +119.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900808 ms (missed cycles : 2).[0m +120.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605822 ms (missed cycles : 3).[0m +121.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 +121.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421267 ms (missed cycles : 3).[0m +122.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268860 ms (missed cycles : 3).[0m +123.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +123.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486512 ms (missed cycles : 4).[0m +124.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818365 ms (missed cycles : 2).[0m +125.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835470 ms (missed cycles : 3).[0m +127.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359807 ms (missed cycles : 4).[0m +128.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939986 ms (missed cycles : 2).[0m +129.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949113 ms (missed cycles : 5).[0m +130.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520463 ms (missed cycles : 4).[0m +131.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901002 ms (missed cycles : 3).[0m +132.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344690 ms (missed cycles : 7).[0m +133.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037348 ms (missed cycles : 2).[0m +133.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +134.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396995 ms (missed cycles : 3).[0m +135.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852850 ms (missed cycles : 2).[0m +135.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +135.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784912667.13714671 seconds +136.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784912667.69984317 seconds. +136.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.341656 ms (missed cycles : 9).[0m +136.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +137.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004819 ms (missed cycles : 2).[0m +137.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +138.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820518 ms (missed cycles : 5).[0m +139.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780030 ms (missed cycles : 4).[0m +139.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +140.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784912671.69998860 seconds +140.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520441 ms (missed cycles : 5).[0m +141.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785623 ms (missed cycles : 3).[0m +141.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +141.84sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784912673.25659418 seconds. +142.20sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 +142.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533944 ms (missed cycles : 4).[0m +143.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749777 ms (missed cycles : 3).[0m +143.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +143.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +144.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319114 ms (missed cycles : 3).[0m +145.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684844 ms (missed cycles : 2).[0m +145.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +146.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316566 ms (missed cycles : 4).[0m +146.74sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +147.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568842 ms (missed cycles : 3).[0m +148.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738681 ms (missed cycles : 3).[0m +149.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729028 ms (missed cycles : 2).[0m +150.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087567 ms (missed cycles : 2).[0m +151.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188243 ms (missed cycles : 2).[0m +152.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416366 ms (missed cycles : 4).[0m +153.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631314 ms (missed cycles : 3).[0m +154.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123766 ms (missed cycles : 4).[0m +156.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582938 ms (missed cycles : 3).[0m +157.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277588 ms (missed cycles : 3).[0m +158.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709027 ms (missed cycles : 2).[0m +159.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869235 ms (missed cycles : 3).[0m +160.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907521 ms (missed cycles : 3).[0m +161.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810472 ms (missed cycles : 3).[0m +162.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374441 ms (missed cycles : 4).[0m +163.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996954 ms (missed cycles : 2).[0m +164.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114960 ms (missed cycles : 2).[0m +165.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670828 ms (missed cycles : 3).[0m +166.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538105 ms (missed cycles : 2).[0m +167.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978820 ms (missed cycles : 2).[0m +168.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680773 ms (missed cycles : 5).[0m +169.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684517 ms (missed cycles : 2).[0m +170.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826950 ms (missed cycles : 5).[0m +171.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.826671 ms (missed cycles : 6).[0m +172.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784912703.56673741 seconds +172.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645393 ms (missed cycles : 3).[0m +172.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784912704.12205696 seconds. +173.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +173.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236583 ms (missed cycles : 4).[0m +174.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +174.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731174 ms (missed cycles : 2).[0m +175.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187762 ms (missed cycles : 4).[0m +176.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421181 ms (missed cycles : 2).[0m +177.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.58); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +177.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799851 ms (missed cycles : 3).[0m +178.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477438 ms (missed cycles : 4).[0m +179.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +179.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873031 ms (missed cycles : 5).[0m +180.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687757 ms (missed cycles : 3).[0m +181.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +181.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286870 ms (missed cycles : 2).[0m +182.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322071 ms (missed cycles : 2).[0m +183.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +183.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077338 ms (missed cycles : 4).[0m +184.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528102 ms (missed cycles : 5).[0m +185.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +185.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.753645 ms (missed cycles : 6).[0m +187.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305771 ms (missed cycles : 2).[0m +187.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=0.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +188.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688120 ms (missed cycles : 3).[0m +189.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854172 ms (missed cycles : 3).[0m +190.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +190.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935134 ms (missed cycles : 2).[0m +191.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440810 ms (missed cycles : 2).[0m +192.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +192.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557533 ms (missed cycles : 3).[0m +193.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643033 ms (missed cycles : 3).[0m +194.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.6 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +194.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.630398 ms (missed cycles : 7).[0m +195.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901176 ms (missed cycles : 4).[0m +196.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +196.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363129 ms (missed cycles : 4).[0m +197.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.400933 ms (missed cycles : 7).[0m +198.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 25.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +198.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048793 ms (missed cycles : 5).[0m +199.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742893 ms (missed cycles : 4).[0m +200.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 27.8 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +200.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141254 ms (missed cycles : 3).[0m +201.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113076 ms (missed cycles : 3).[0m +202.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 29.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +202.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214847 ms (missed cycles : 4).[0m +203.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016569 ms (missed cycles : 2).[0m +204.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 31.8 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +204.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622966 ms (missed cycles : 2).[0m +205.24sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +205.25sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +205.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784912736.67227674 seconds +205.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858293 ms (missed cycles : 2).[0m +205.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784912737.34698749 seconds. +206.27sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +206.75sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +206.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918843 ms (missed cycles : 2).[0m +207.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159851 ms (missed cycles : 2).[0m +208.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386795 ms (missed cycles : 6).[0m +209.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591413 ms (missed cycles : 3).[0m +210.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694040 ms (missed cycles : 2).[0m +211.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +211.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.882464 ms (missed cycles : 7).[0m +212.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339702 ms (missed cycles : 3).[0m +213.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +214.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715420 ms (missed cycles : 3).[0m +215.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958185 ms (missed cycles : 2).[0m +215.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +216.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094556 ms (missed cycles : 3).[0m +216.28sINFOros2_control_nodeGot request to cancel goal[0m +216.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +216.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784912747.74696517 seconds +216.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784912748.30151987 seconds. +217.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679073 ms (missed cycles : 3).[0m +217.23sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +217.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=1.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +218.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335655 ms (missed cycles : 6).[0m +219.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792315 ms (missed cycles : 3).[0m +219.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=3.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +220.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515292 ms (missed cycles : 6).[0m +221.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880664 ms (missed cycles : 6).[0m +221.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 16.0 s (AMCL untrusted, spread=1.83); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +222.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465822 ms (missed cycles : 3).[0m +223.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973428 ms (missed cycles : 2).[0m +223.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=1.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +224.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920942 ms (missed cycles : 2).[0m +225.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957316 ms (missed cycles : 5).[0m +226.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.2 s (AMCL untrusted, spread=1.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +226.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730015 ms (missed cycles : 2).[0m +227.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602868 ms (missed cycles : 3).[0m +228.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=1.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +228.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194851 ms (missed cycles : 2).[0m +229.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.779970 ms (missed cycles : 6).[0m +230.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=1.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +230.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849368 ms (missed cycles : 2).[0m +231.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774675 ms (missed cycles : 2).[0m +232.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=1.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +232.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711235 ms (missed cycles : 2).[0m +233.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560571 ms (missed cycles : 3).[0m +234.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.6 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +234.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175461 ms (missed cycles : 5).[0m +235.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235060 ms (missed cycles : 4).[0m +236.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.8 s (AMCL untrusted, spread=1.09); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +236.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634181 ms (missed cycles : 2).[0m +237.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478800 ms (missed cycles : 5).[0m +238.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 33.0 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +238.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484979 ms (missed cycles : 4).[0m +240.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933360 ms (missed cycles : 6).[0m +240.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.0 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +241.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402879 ms (missed cycles : 3).[0m +242.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500095 ms (missed cycles : 2).[0m +243.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +243.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.351993 ms (missed cycles : 10).[0m +244.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840901 ms (missed cycles : 2).[0m +245.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238410 ms (missed cycles : 2).[0m +245.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.4 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +246.06sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +246.07sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +246.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784912777.49171782 seconds +246.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186338 ms (missed cycles : 2).[0m +246.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784912778.11118984 seconds. +247.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 +247.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584904 ms (missed cycles : 3).[0m +247.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.4 s (AMCL untrusted, spread=4.58); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +248.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715045 ms (missed cycles : 3).[0m +249.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.4 s (AMCL untrusted, spread=1.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +249.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169299 ms (missed cycles : 3).[0m +250.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931135 ms (missed cycles : 2).[0m +251.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935204 ms (missed cycles : 3).[0m +251.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +252.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212513 ms (missed cycles : 2).[0m +253.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464305 ms (missed cycles : 3).[0m +253.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +254.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092169 ms (missed cycles : 5).[0m +255.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383539 ms (missed cycles : 2).[0m +255.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +256.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267641 ms (missed cycles : 2).[0m +257.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.900650 ms (missed cycles : 5).[0m +257.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +258.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644259 ms (missed cycles : 3).[0m +259.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724919 ms (missed cycles : 5).[0m +260.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +260.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069616 ms (missed cycles : 2).[0m +261.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988949 ms (missed cycles : 2).[0m +262.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +262.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094789 ms (missed cycles : 2).[0m +263.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118461 ms (missed cycles : 3).[0m +264.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +264.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281025 ms (missed cycles : 2).[0m +265.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052229 ms (missed cycles : 2).[0m +266.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.6 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +266.75sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539794 ms (missed cycles : 2).[0m +267.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064189 ms (missed cycles : 2).[0m +268.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.8 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +268.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680435 ms (missed cycles : 2).[0m +269.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513819 ms (missed cycles : 4).[0m +270.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.8 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +270.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381504 ms (missed cycles : 3).[0m +271.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143077 ms (missed cycles : 4).[0m +272.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +273.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937098 ms (missed cycles : 2).[0m +274.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861670 ms (missed cycles : 3).[0m +275.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.2 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +275.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942806 ms (missed cycles : 2).[0m +276.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524859 ms (missed cycles : 4).[0m +277.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.2 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +277.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395551 ms (missed cycles : 3).[0m +278.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439382 ms (missed cycles : 3).[0m +279.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.2 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +279.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829022 ms (missed cycles : 2).[0m +280.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781714 ms (missed cycles : 3).[0m +281.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.4 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +281.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873845 ms (missed cycles : 2).[0m +282.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455469 ms (missed cycles : 4).[0m +283.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823449 ms (missed cycles : 2).[0m +283.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.6 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +284.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443681 ms (missed cycles : 2).[0m +285.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792418 ms (missed cycles : 4).[0m +285.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +286.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925677 ms (missed cycles : 2).[0m +287.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154355 ms (missed cycles : 3).[0m +287.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.8 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +288.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070282 ms (missed cycles : 4).[0m +289.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257445 ms (missed cycles : 4).[0m +289.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 84.0 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +290.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803173 ms (missed cycles : 3).[0m +291.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.506005 ms (missed cycles : 7).[0m +291.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 86.0 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +292.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362289 ms (missed cycles : 3).[0m +293.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.203409 ms (missed cycles : 5).[0m +293.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +294.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670827 ms (missed cycles : 2).[0m +295.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810755 ms (missed cycles : 2).[0m +296.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +296.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234156 ms (missed cycles : 5).[0m +297.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383652 ms (missed cycles : 3).[0m +298.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.4 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +298.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308529 ms (missed cycles : 2).[0m +299.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993403 ms (missed cycles : 2).[0m +300.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.6 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +300.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195776 ms (missed cycles : 5).[0m +301.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784912832.60136485 seconds +301.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784912833.18431735 seconds. +301.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717094 ms (missed cycles : 2).[0m +302.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +302.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090795 ms (missed cycles : 4).[0m +303.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238801 ms (missed cycles : 2).[0m +304.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +304.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039202 ms (missed cycles : 5).[0m +305.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530314 ms (missed cycles : 4).[0m +306.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 +306.32sINFOobjective_server_nodePath shortcutter: [X__________________X] +306.35sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). +306.38sINFOobjective_server_nodePath shortcutter: [X____________________X] +306.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +306.47sINFOobjective_server_nodePath shortcutter: [X_________________________X] +306.64sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +306.69sINFOobjective_server_nodeFound path in 0 iterations (1.16e-06 s). +306.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.0 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +306.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554888 ms (missed cycles : 2).[0m +306.93sINFOobjective_server_nodeFound path in 69 iterations (0.0481193 s). +307.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +307.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +307.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007919 ms (missed cycles : 2).[0m +307.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +308.22sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +308.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104274 ms (missed cycles : 2).[0m +309.06sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.2 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +309.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879428 ms (missed cycles : 2).[0m +311.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710304 ms (missed cycles : 4).[0m +311.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +312.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378526 ms (missed cycles : 3).[0m +313.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526895 ms (missed cycles : 3).[0m +313.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +314.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315821 ms (missed cycles : 3).[0m +314.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784912845.66260028 seconds +314.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784912846.24728489 seconds. +315.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053393 ms (missed cycles : 2).[0m +315.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784912846.83744025 seconds +315.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.8 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +315.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784912847.39489174 seconds. +316.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201611 ms (missed cycles : 2).[0m +316.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784912847.84507155 seconds +316.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +317.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601485 ms (missed cycles : 3).[0m +317.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.8 s (AMCL untrusted, spread=0.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +318.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367901 ms (missed cycles : 3).[0m +319.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374969 ms (missed cycles : 3).[0m +319.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.8 s (AMCL untrusted, spread=0.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +320.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.834160 ms (missed cycles : 7).[0m +321.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664822 ms (missed cycles : 4).[0m +321.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +322.26sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.27sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.27sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.28sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.28sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +322.30sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.31sERRORweb_video_auth_proxy-36process has died [pid 9583, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +322.31sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.31sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.32sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +322.34sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.34sERRORweb_bridge_auth_proxy-35process has died [pid 9582, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +322.34sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.35sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.35sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.36sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.36sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.37sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.37sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.37sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.38sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.38sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.39sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.39sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.39sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.40sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.40sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.41sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.41sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.42sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +322.44sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +322.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996204 ms (missed cycles : 2).[0m +322.47sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +322.49sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +322.52sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +322.54sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +322.56sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +322.57sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +322.59sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +322.62sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +322.65sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +322.68sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +322.72sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +322.74sINFOweb_video_server-34process has finished cleanly [pid 9581] +322.74sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9580] +322.75sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +322.79sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +322.82sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +322.85sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +322.85sERRORui_teleop_bridge-31process has died [pid 9576, 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_mvgjqvh5']. +322.85sERRORmove_group-22process has died [pid 9544, 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_vf3x9rm4 --params-file /tmp/launch_params_47ldqiel --params-file /tmp/launch_params_hbpvnec7 --params-file /tmp/launch_params_yqth6qci --params-file /tmp/launch_params_hpjmi7e2 --params-file /tmp/launch_params_0grq88ix']. +322.87sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +322.88sINFOcomponent_container_mt-29process has finished cleanly [pid 9572] +322.90sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +322.90sINFOexecute_objective_bridge-30process has finished cleanly [pid 9573] +322.92sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +322.94sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +322.97sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +322.99sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +322.99sERRORobjective_server_node_main-27process has died [pid 9568, 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_jkw3hcd4 --params-file /tmp/launch_params_1txuz3ru --params-file /tmp/launch_params_74x625oo --params-file /tmp/launch_params_pvzc904m --params-file /tmp/launch_params_kl_d02na --params-file /tmp/launch_params_vg15q26x --params-file /tmp/launch_params_xxrjhttd --params-file /tmp/launch_params_d6kvzuq_ --params-file /tmp/launch_params_g8nak5cv']. +323.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.01sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.01sERRORui_teleop_bridgeTraceback (most recent call last): +323.01sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.01sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.02sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.02sINFOui_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 +323.02sINFOui_teleop_bridgerclpy.shutdown() +323.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.02sINFOui_teleop_bridge_shutdown(context=context) +323.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.02sINFOui_teleop_bridgecontext.shutdown() +323.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.02sINFOui_teleop_bridgeself.__context.shutdown() +323.02sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.02sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.02sINFOobjective_server_node[0;m[0m[INFO] [2026-07-24 17:07:34.209] signal_handler(SIGINT/SIGTERM)[0m +323.02sINFOcomponent_container_mtStopping planning scene monitor[0m +323.02sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.02sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.02sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.03sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +323.03sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.03sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.03sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.03sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.03sERRORmove_groupStack trace (most recent call last) in thread 10189: +323.03sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.03sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff79a19fa63, in __clone +323.03sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff79a112aa3, in +323.03sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a3a4db3, in +323.03sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff79aae7ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.03sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a7174d0, in rclcpp::Rate::sleep() +323.03sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a66aa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.03sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a62fa71, in +323.03sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a373390, in __cxa_throw +323.03sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a35da54, in std::terminate() +323.03sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a3730d9, in +323.03sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a35dff4, in +323.03sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff79a09e8fe, in abort +323.03sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff79a0bb27d, in raise +323.03sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff79a114b2c, in pthread_kill +323.03sERRORmove_groupAborted (Signal sent by tkill() 9544 0) +323.03sINFOobjective_server_node[2026-07-24 17:07:34.216] [moveit_pro_license] [info] +323.03sINFOobjective_server_node* Application has successfully terminated +323.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.03sINFOros2_control_nodeShutdown request received....[0m +323.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.03sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.03sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.03sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.04sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.04sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.04sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.04sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.04sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.04sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.04sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.04sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.04sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.04sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.04sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.04sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.04sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.04sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.04sINFOros2_control_nodeShutting down the controller manager.[0m +323.04sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.04sERRORobjective_server_nodeStack trace (most recent call last): +323.04sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.04sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1c56a4, in _start +323.04sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa7b5d7b28a, in __libc_start_main +323.04sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa7b5d7b1d0, in +323.04sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa7b5d98bbd, in exit +323.04sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa7b5d98a75, in +323.04sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fa7b62678f5, in spdlog::details::registry::~registry() +323.04sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1c5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.04sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1cc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.04sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1cb5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.04sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1c7b7b, in spdlog_ros::RosSink::~RosSink() +323.04sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56259a1c5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.04sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b691d454, in rclcpp::Node::~Node() +323.04sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b68d8515, in +323.04sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b691bd20, in +323.04sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b691bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.04sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b68d85d9, in +323.04sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa7b68dd161, in rclcpp::CallbackGroup::~CallbackGroup() +323.04sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa77a15e090]) +323.04sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.05sERRORodom_qos_relay.pyTraceback (most recent call last): +323.05sINFOodom_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> +323.05sINFOodom_qos_relay.pymain() +323.05sINFOodom_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 +323.05sINFOodom_qos_relay.pyrclpy.spin(node) +323.05sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.05sINFOodom_qos_relay.pyexecutor.spin_once() +323.05sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.05sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.05sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.05sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.05sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.05sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.05sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.05sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.05sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.05sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.05sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.05sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +323.05sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.05sERRORodom_world_drift.pyTraceback (most recent call last): +323.05sINFOodom_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> +323.05sINFOodom_world_drift.pymain() +323.05sINFOodom_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 +323.05sINFOodom_world_drift.pyrclpy.spin(node) +323.05sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.05sINFOodom_world_drift.pyexecutor.spin_once() +323.05sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.05sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.05sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.05sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.05sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.05sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.05sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.05sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.05sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.05sINFOodom_world_drift.pyraise ExternalShutdownException() +323.05sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +323.05sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +323.06sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.06sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.06sINFOros2_control_nodepublish_async_failures_ 5[0m +323.06sINFOros2_control_nodepublish_async_failures_ 2[0m +323.20sERRORcomponent_container_isolated-1process has died [pid 9445, 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_z_8iexh7 --params-file /tmp/launch_params_e26dxc5a -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +323.69sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9567] +323.72sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9566] +323.80sINFOwaypoint_manager_node-24process has finished cleanly [pid 9565] +323.82sINFOparameter_manager_node-23process has finished cleanly [pid 9545] +323.83sINFOcomponent_container_mt-28process has finished cleanly [pid 9571] +323.89sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9452] +323.92sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9451] +323.97sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9453] +323.98sINFOslip_aware_odom-4process has finished cleanly [pid 9448] +324.00sERRORodom_qos_relay.py-6process has died [pid 9450, 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']. +324.02sINFOstatic_transform_publisher-2process has finished cleanly [pid 9446] +324.96sINFOamcl_odom_gate-5process has finished cleanly [pid 9449] +325.05sERRORodom_world_drift.py-3process has died [pid 9447, 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_443w2kmt']. +325.34sINFOweb_bridge-32process has finished cleanly [pid 9579] +325.34sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +325.62sINFOros2_control_node-10process has finished cleanly [pid 9532] +333.80sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-24-17-07-42-046311-a3a2c0aa6f3c-13583 ×2 +346.85sINFOstatic_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' +346.93sINFOstate_estimatorReceived a set_pose request (stamp: 1784912878353197246, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +347.03sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +347.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +347.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +347.10sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +347.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +347.13sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +347.13sINFOcontroller_managerupdate rate is 600 Hz +347.13sINFOcontroller_managerOverruns handling is : enabled +347.13sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.14sWARNcontroller_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. +347.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.18sINFOcontroller_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. +347.19sINFOros2_control_node-10process started with pid [13726] ×2 +347.19sINFOmove_group-22process started with pid [13740] ×2 +347.19sINFOparameter_manager_node-23process started with pid [13741] ×2 +347.19sINFOwaypoint_manager_node-24process started with pid [13757] ×2 +347.19sINFOmove_joint_resampler_node-25process started with pid [13758] ×2 +347.20sINFOmove_end_effector_resampler_node-26process started with pid [13759] ×2 +347.20sINFOobjective_server_node_main-27process started with pid [13760] ×2 +347.20sINFOcomponent_container_mt-28process started with pid [13761] ×2 +347.20sINFOcomponent_container_mt-29process started with pid [13762] ×2 +347.20sINFOexecute_objective_bridge-30process started with pid [13766] ×2 +347.20sINFOui_teleop_bridge-31process started with pid [13767] ×2 +347.20sINFOweb_bridge-32process started with pid [13768] ×2 +347.20sINFOtf2_web_republisher_node-33process started with pid [13772] ×2 +347.21sINFOweb_video_server-34process started with pid [13788] ×2 +347.21sINFOweb_bridge_auth_proxy-35process started with pid [13791] ×2 +347.21sINFOweb_video_auth_proxy-36process started with pid [13792] ×2 +347.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566383 ms (missed cycles : 2). +347.22sINFOcomponent_container_isolated-1process started with pid [13633] ×2 +347.22sINFOstatic_transform_publisher-2process started with pid [13634] ×2 +347.22sINFOodom_world_drift.py-3process started with pid [13635] ×2 +347.22sINFOslip_aware_odom-4process started with pid [13636] ×2 +347.23sINFOamcl_odom_gate-5process started with pid [13637] ×2 +347.23sINFOodom_qos_relay.py-6process started with pid [13638] ×2 +347.23sINFOscan_to_scan_filter_chain-7process started with pid [13639] ×2 +347.23sINFOscan_to_scan_filter_chain-8process started with pid [13640] ×2 +347.23sINFOfixed_lag_smoother_node-9process started with pid [13641] ×2 +347.23sINFOros2-11process started with pid [13727] ×2 +347.23sINFOros2-12process started with pid [13728] ×2 +347.23sINFOros2-13process started with pid [13730] ×2 +347.23sINFOros2-14process started with pid [13731] ×2 +347.23sINFOros2-15process started with pid [13732] ×2 +347.23sINFOros2-16process started with pid [13733] ×2 +347.23sINFOros2-17process started with pid [13734] ×2 +347.23sINFOros2-18process started with pid [13736] ×2 +347.23sINFOros2-19process started with pid [13737] ×2 +347.24sINFOros2-20process started with pid [13738] ×2 +347.24sINFOros2-21process started with pid [13739] ×2 +347.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +347.28sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +347.29sINFOcontroller_serverCreating controller server +347.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.33sINFOlocal_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. +347.36sINFOlocal_costmap.local_costmapCreating Costmap +347.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +347.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566383 ms (missed cycles : 2).[0m ×2 +347.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +347.41sINFOrobot_state_publisherRobot initialized +347.42sINFOcontroller_managerReceived robot description from topic. +347.42sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +347.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +347.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +347.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +347.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +347.51sINFOmap_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. +347.51sINFOmap_serverCreating +347.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +347.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.53sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +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. +347.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +347.62sINFOsmoother_serverCreating smoother server +347.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +347.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +347.72sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +347.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +347.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.80sINFOplanner_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. +347.84sINFOplanner_serverCreating +347.85sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.386472 seconds +347.85sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +347.85sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +347.85sINFOmove_groupLoaded robot model in 0.386472 seconds[0m ×2 +347.86sWARNlaser_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. +347.86sWARNlaser_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. +347.89sINFOglobal_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. +347.90sINFOglobal_costmap.global_costmapCreating Costmap +347.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +347.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.98sINFOlifecycle_manager_localizationCreating +347.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +347.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +348.00sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.01sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +348.01sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +348.01sINFOmap_serverConfiguring +348.04sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +348.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.12sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +348.12sINFOamclConfiguring +348.13sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +348.14sINFOmap_serverActivating +348.14sINFOmap_serverCreating bond (map_server) to lifecycle manager. +348.17sINFObt_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. +348.18sINFObt_navigatorCreating +348.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +348.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.23sINFOwaypoint_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. +348.24sINFOwaypoint_followerCreating +348.25sINFOlifecycle_manager_localizationServer map_server connected with bond. +348.25sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +348.25sINFOamclActivating +348.25sINFOamclSubscribed to initial_pose_topic: /initialpose +348.26sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +348.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +348.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401133 ms (missed cycles : 3). +348.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401133 ms (missed cycles : 3).[0m ×2 +348.29sINFOamclSubscribed to map_topic: /map +348.29sINFOamclSubscribed to scan_topic: /scan_merged +348.29sINFOamclCreated reinitialize_global_localization service +348.29sINFOamclCreated request_nomotion_update service +348.29sINFOamclA new map was received +348.29sINFOamclInitializing particle filter instance +348.32sINFOvelocity_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. +348.35sINFOlifecycle_manager_navigationCreating +348.36sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.40sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +348.40sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +348.40sINFOcontroller_serverConfiguring controller interface +348.40sINFOcontroller_servergetting progress checker plugins.. +348.40sINFOcontroller_servergetting goal checker plugins.. +348.40sINFOcontroller_serverController frequency set to 20.0000Hz +348.40sINFOlocal_costmap.local_costmapConfiguring +348.42sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +348.44sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +348.50sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +348.50sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +348.51sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +348.55sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +348.56sINFOcontroller_serverController Server has progress_checker progress checkers available. +348.56sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +348.57sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +348.57sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +348.58sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +348.59sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +348.59sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +348.61sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +348.61sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +348.62sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +348.62sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +348.63sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +348.63sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +348.64sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +348.64sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +348.65sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +348.67sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +348.67sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +348.67sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +348.67sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +348.68sINFOcontroller_serverOptimizer reset +348.70sINFOcontroller_serverController Server has FollowPath controllers available. +348.73sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +348.73sINFOsmoother_serverConfiguring smoother server +348.74sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +348.75sINFOamclParticle filter initialization completed +348.75sINFOamclInitializing particles from estimated pose and covariance +348.75sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +348.76sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +348.76sINFOlifecycle_manager_localizationServer amcl connected with bond. +348.76sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +348.76sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +348.77sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +348.77sWARNmove_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. +348.77sWARNmove_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. +348.77sWARNmove_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. +348.77sWARNmove_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. +348.78sWARNmove_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. +348.78sWARNmove_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. +348.78sWARNmove_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. +348.78sWARNmove_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. +348.78sWARNmove_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. +348.78sWARNmove_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. +348.79sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +348.79sINFOplanner_serverConfiguring +348.79sINFOglobal_costmap.global_costmapConfiguring +348.81sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +348.83sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +348.83sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +348.83sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +348.84sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +348.85sINFOamclThe bond connection to the lifecycle manager is now fully formed +348.87sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +348.87sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +348.88sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +348.92sFATALplanner_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 +348.92sINFOplanner_serverCleaning up +348.92sINFOglobal_costmap.global_costmapCleaning up +348.92sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +349.02sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +349.02sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +349.12sINFOwaypoint_manager_nodeLoaded robot model in 0.464667 seconds[0m ×2 +349.14sINFOmove_group[2026-07-24 17:08:00.563] [moveit_pro_license] [info] ×2 +349.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +349.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175246 ms (missed cycles : 2). +349.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175246 ms (missed cycles : 2).[0m ×2 +349.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +349.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +349.61sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +349.61sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +349.61sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +349.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +349.62sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +349.62sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +349.62sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +349.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +349.62sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +349.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +349.63sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.73sWARNwaypoint_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. +350.05sINFOwaypoint_manager_node[2026-07-24 17:08:01.471] [moveit_pro_license] [info] ×2 +350.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +350.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. +350.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +350.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +350.35sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.36sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +350.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +350.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.47sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +350.47sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +350.47sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +350.47sINFOstreaming_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) +350.48sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +350.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +350.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +350.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +350.59sINFOobjective_server_node[2026-07-24 17:08:02.017] [moveit_pro_license] [info] ×2 +350.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +350.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873428 ms (missed cycles : 2). +350.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873428 ms (missed cycles : 2).[0m ×2 +350.67sINFOobjective_server_nodeLoaded robot model in 0.0301764 seconds[0m ×2 +350.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +350.68sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +350.71sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +351.03sINFOros2_control_node[2026-07-24 17:08:02.453] [info] Controller state will be published at 20 Hz. ×2 +351.03sINFOros2_control_node[2026-07-24 17:08:02.456] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.10sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.10sWARNobjective_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. +351.11sWARNobjective_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. +351.11sWARNobjective_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. +351.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +351.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +351.24sINFOmove_groupMoveGroup debug mode is ON +351.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +351.37sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +351.37sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +351.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +351.40sINFOros2-20process has finished cleanly [pid 13738] ×2 +351.40sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+351.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +351.47sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +351.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +351.49sINFOplatform_velocity_controller_nav2configure successful +351.55sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784912881.868 for reason 'discarding message because the queue is full' +351.64sINFOcomponent_container_mtLoaded robot model in 0.417248 seconds[0m ×2 +351.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134197 ms (missed cycles : 5). +351.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134197 ms (missed cycles : 5).[0m ×2 +351.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +351.90sINFOcontroller_managerLoading controller 'platform_velocity_controller' +351.91sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +351.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +351.95sINFOros2-16process has finished cleanly [pid 13733] ×2 +351.98sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +351.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +351.99sINFOplatform_velocity_controllerconfigure successful +351.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +351.99sINFOcontroller_managerSuccessfully switched controllers! ×8 +351.99sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +352.05sWARNplanning_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. +352.05sWARNplanning_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. +352.05sWARNplanning_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. +352.05sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.06sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.07sWARNplanning_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. +352.08sWARNplanning_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. +352.08sWARNplanning_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. +352.08sWARNplanning_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. +352.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.28sINFOcomponent_container_mt[2026-07-24 17:08:03.705] [moveit_pro_license] [info] ×2 +352.46sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +352.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +352.47sINFOcontroller_managerLoading controller 'velocity_force_controller' +352.48sINFOros2-14process has finished cleanly [pid 13731] ×2 +352.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +352.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +352.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +352.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +352.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630644 ms (missed cycles : 3). +352.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630644 ms (missed cycles : 3).[0m ×2 +352.95sINFOros2_control_node[2026-07-24 17:08:04.378] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +352.96sINFOros2_control_node[2026-07-24 17:08:04.384] [info] Controller state will be published at 10 Hz. ×2 +352.96sINFOros2_control_node[2026-07-24 17:08:04.386] [info] VelocityForceController 'on_configure' succeeded. ×2 +353.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +353.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +353.31sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +353.31sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +353.35sINFOros2-18process has finished cleanly [pid 13736] ×2 +353.38sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +353.38sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +353.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964904 ms (missed cycles : 2). +353.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964904 ms (missed cycles : 2).[0m ×2 +353.74sINFOros2_control_node[2026-07-24 17:08:05.166] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.74sINFOros2_control_node[2026-07-24 17:08:05.169] [info] Controller state will be published at 10 Hz. ×2 +353.74sINFOros2_control_node[2026-07-24 17:08:05.170] [info] VelocityForceController 'on_configure' succeeded. ×2 +354.05sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784912884.368 for reason 'discarding message because the queue is full' +354.10sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +354.10sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +354.11sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +354.11sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +354.12sINFOros2-19process has finished cleanly [pid 13737] ×2 +354.18sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +354.18sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +354.19sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +354.19sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +354.34sWARNstate_estimatorOptimization exceeded the configured duration by 8065803ns +354.52sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +354.52sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +354.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +354.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +354.57sINFOros2-12process has finished cleanly [pid 13728] ×2 +354.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +354.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +354.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +354.62sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +354.62sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +354.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +354.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +354.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852035 ms (missed cycles : 3). +354.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852035 ms (missed cycles : 3).[0m ×2 +354.85sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.303ms +354.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +354.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +354.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +354.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +355.03sINFOros2-13process has finished cleanly [pid 13730] ×2 +355.06sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +355.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +355.43sINFOros2_control_node[2026-07-24 17:08:06.851] [info] Controller state will be published at 20 Hz. ×2 +355.43sINFOros2_control_node[2026-07-24 17:08:06.853] [info] JointVelocityController 'on_configure' succeeded. ×2 +355.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240027 ms (missed cycles : 2). +355.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240027 ms (missed cycles : 2).[0m ×2 +355.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +355.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +355.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +355.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +355.83sINFOros2-21process has finished cleanly [pid 13739] ×2 +355.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +355.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +355.91sINFOforce_torque_sensor_broadcasterconfigure successful +355.92sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +355.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +356.27sINFOros2-11process has finished cleanly [pid 13727] ×2 +356.32sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +356.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +356.32sINFOcontroller_managerLoading controller 'vacuum_gripper' +356.33sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +356.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +356.35sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +356.36sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +356.36sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +356.36sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +356.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +356.38sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +356.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467027 ms (missed cycles : 3). +356.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467027 ms (missed cycles : 3).[0m ×2 +356.88sINFOros2-15process has finished cleanly [pid 13732] ×2 +356.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +356.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +356.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q +356.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ws64i7_5 --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_umnvdbss --params-file /tmp/launch_params_jwg_c01q [0m ×2 +357.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +357.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +357.04sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +357.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +357.04sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +357.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +357.05sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +357.36sINFOros2-17process has finished cleanly [pid 13734] ×2 +357.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677651 ms (missed cycles : 2). +357.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677651 ms (missed cycles : 2).[0m ×2 +358.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). +358.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 +359.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). +359.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 +360.36sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +360.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). +360.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 +361.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). +361.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 +362.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 +362.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +362.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +362.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 +362.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). +362.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 +363.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 +363.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 +363.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 +363.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 +363.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). +363.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 +364.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 +364.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +364.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +364.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 +364.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 +364.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +364.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +364.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +364.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). +364.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[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 2.636359 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 7.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.34sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002448 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636359 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116453 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774666 ms (missed cycles : 5).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232343 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784912893.87649679 seconds. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784912893.88672781 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553002 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784912894.44019413 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784912894.45033550 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784912895.00446892 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784912895.15528440 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209511 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784912895.73189807 seconds. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784912895.81481671 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784912896.36982918 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649835 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970359 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sWARNstate_estimatorOptimization exceeded the configured duration by 64086962ns + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||