69
Total objective tests
16
Objectives passed
2
Objectives failed
51
Objectives skipped
18.0s
Avg test time
89%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail11 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.0s | 6 errors · 166 warnings · 199 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3).[0m ×2 + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785003096.54353547 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785003097.09861112 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517407 ms (missed cycles : 6). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517407 ms (missed cycles : 6).[0m ×2 + 7.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=2.77); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=2.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666561 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666561 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137726 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137726 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms ×2 + 9.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.88); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.88); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843779 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843779 ms (missed cycles : 5).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376117 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376117 ms (missed cycles : 2).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 11.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219341 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219341 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.572ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566167 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566167 ms (missed cycles : 2).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 13.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844465 ms (missed cycles : 5). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844465 ms (missed cycles : 5).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331506 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331506 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms ×3 + 16.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194850 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194850 ms (missed cycles : 3).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504163 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504163 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 18.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107482 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107482 ms (missed cycles : 3).[0m ×2 + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073632 ms (missed cycles : 5). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073632 ms (missed cycles : 5).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001774 ms (missed cycles : 3). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001774 ms (missed cycles : 3).[0m ×2 + 20.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676625 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676625 ms (missed cycles : 2).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms ×2 + 22.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958467 ms (missed cycles : 6). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958467 ms (missed cycles : 6).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712642 ms (missed cycles : 4). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712642 ms (missed cycles : 4).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 24.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101431 ms (missed cycles : 4). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101431 ms (missed cycles : 4).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876261 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876261 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875851 ms (missed cycles : 3). + 26.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875851 ms (missed cycles : 3).[0m ×2 + 26.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.429ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882063 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882063 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.467ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.389ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572095 ms (missed cycles : 4). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572095 ms (missed cycles : 4).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 28.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.8 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556042 ms (missed cycles : 4). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556042 ms (missed cycles : 4).[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.518ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.861ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213889 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213889 ms (missed cycles : 2).[0m ×2 + 31.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.649ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926158 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926158 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 32.75sWARNstate_estimatorOptimization exceeded the configured duration by 41386849ns + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158832 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158832 ms (missed cycles : 3).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.538ms + 33.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437926 ms (missed cycles : 3). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437926 ms (missed cycles : 3).[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873447 ms (missed cycles : 3). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873447 ms (missed cycles : 3).[0m ×2 + 35.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.41sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 35.41sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 35.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785003128.53880763 seconds ×3 + 35.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.472ms + 35.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.936ms + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963659 ms (missed cycles : 5). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963659 ms (missed cycles : 5).[0m ×2 + 36.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.614ms + 36.06sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785003129.18366838 seconds. ×3 + 36.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms + 36.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.680ms + 36.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.827ms + 36.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.733ms + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257019 ms (missed cycles : 4). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257019 ms (missed cycles : 4).[0m ×2 + 37.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.995ms + 37.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.195ms + 37.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=4.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=4.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.339ms + 37.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.459ms + 37.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.233ms + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318635 ms (missed cycles : 5). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318635 ms (missed cycles : 5).[0m ×2 + 37.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.896ms + 38.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.410ms + 38.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.245ms + 38.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.705ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.4s | 9 errors · 157 warnings · 194 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142769 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142769 ms (missed cycles : 2).[0m ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 0.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514002 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514002 ms (missed cycles : 3).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387930 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 3.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 3.38sINFOjoint_trajectory_controllerGot request to cancel goal + 3.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785003139.25374341 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001759 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001759 ms (missed cycles : 2).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785003139.80632544 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139212 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139212 ms (missed cycles : 2).[0m ×2 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.8 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.8 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827391 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827391 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133685 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133685 ms (missed cycles : 5).[0m ×2 + 7.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.8 s (AMCL untrusted, spread=0.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.8 s (AMCL untrusted, spread=0.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076285 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076285 ms (missed cycles : 2).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881910 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881910 ms (missed cycles : 2).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 9.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640462 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640462 ms (missed cycles : 4).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611803 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611803 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 11.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925240 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925240 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796060 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796060 ms (missed cycles : 5).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 13.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358053 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358053 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854930 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854930 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 15.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529469 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529469 ms (missed cycles : 3).[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693687 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693687 ms (missed cycles : 3).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 17.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743797 ms (missed cycles : 5). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743797 ms (missed cycles : 5).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592083 ms (missed cycles : 4). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592083 ms (missed cycles : 4).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 20.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826887 ms (missed cycles : 5). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826887 ms (missed cycles : 5).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118982 ms (missed cycles : 2). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118982 ms (missed cycles : 2).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 22.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.8 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.8 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914114 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914114 ms (missed cycles : 3).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118488 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118488 ms (missed cycles : 2).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353206 ms (missed cycles : 2). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353206 ms (missed cycles : 2).[0m ×2 + 24.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918158 ms (missed cycles : 2). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918158 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 26.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.0 s (AMCL untrusted, spread=0.57); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.0 s (AMCL untrusted, spread=0.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073000 ms (missed cycles : 5). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073000 ms (missed cycles : 5).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691857 ms (missed cycles : 2). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691857 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 28.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.2 s (AMCL untrusted, spread=1.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.2 s (AMCL untrusted, spread=1.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897403 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897403 ms (missed cycles : 3).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040679 ms (missed cycles : 4). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040679 ms (missed cycles : 4).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 30.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684092 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684092 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029508 ms (missed cycles : 2). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029508 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 32.58sINFOjoint_trajectory_controllerGoal reached, success! + 32.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 32.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.75); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.75); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.75sWARNstate_estimatorOptimization exceeded the configured duration by 50977090ns + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790872 ms (missed cycles : 2). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790872 ms (missed cycles : 2).[0m ×2 + 32.85sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 32.86sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 32.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785003168.69649720 seconds ×3 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.696ms + 33.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.910ms + 33.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.609ms + 33.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785003169.27131557 seconds. ×3 + 33.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.017ms + 33.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 34.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 34.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 34.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 35.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 35.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.4s | 211 warnings · 249 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: 1785003000.74396706 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785003004.22757292 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785003004.77555776 seconds. ×3 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 5.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3).[0m ×2 + 6.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 7.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190969 ms (missed cycles : 5). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190969 ms (missed cycles : 5).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 8.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662459 ms (missed cycles : 5). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662459 ms (missed cycles : 5).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 9.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265229 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265229 ms (missed cycles : 4).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 10.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215319 ms (missed cycles : 5). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215319 ms (missed cycles : 5).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 11.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046919 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046919 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238738 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238738 ms (missed cycles : 4).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 13.92sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869949 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869949 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms ×2 + 14.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001174 ms (missed cycles : 5). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001174 ms (missed cycles : 5).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375400 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375400 ms (missed cycles : 4).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262511 ms (missed cycles : 5). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262511 ms (missed cycles : 5).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073903 ms (missed cycles : 4). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073903 ms (missed cycles : 4).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961470 ms (missed cycles : 6). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961470 ms (missed cycles : 6).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.814ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870336 ms (missed cycles : 3). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870336 ms (missed cycles : 3).[0m ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164794 ms (missed cycles : 5). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164794 ms (missed cycles : 5).[0m ×2 + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755293 ms (missed cycles : 3). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755293 ms (missed cycles : 3).[0m ×2 + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940035 ms (missed cycles : 2). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940035 ms (missed cycles : 2).[0m ×2 + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.270277 ms (missed cycles : 6). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.270277 ms (missed cycles : 6).[0m ×2 + 25.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829346 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829346 ms (missed cycles : 3).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.312ms + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498649 ms (missed cycles : 5). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498649 ms (missed cycles : 5).[0m ×2 + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 28.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595877 ms (missed cycles : 4). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595877 ms (missed cycles : 4).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.352ms + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273885 ms (missed cycles : 5). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273885 ms (missed cycles : 5).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443654 ms (missed cycles : 4). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443654 ms (missed cycles : 4).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.070547 ms (missed cycles : 7). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.070547 ms (missed cycles : 7).[0m ×2 + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901822 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901822 ms (missed cycles : 3).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.463ms + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594335 ms (missed cycles : 4). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594335 ms (missed cycles : 4).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 34.31sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.39sWARNstate_estimatorOptimization exceeded the configured duration by 58907403ns + 34.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680880 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680880 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518978 ms (missed cycles : 4). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518978 ms (missed cycles : 4).[0m ×2 + 35.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.930814 ms (missed cycles : 6). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.930814 ms (missed cycles : 6).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845934 ms (missed cycles : 2). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845934 ms (missed cycles : 2).[0m ×2 + 38.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 38.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767768 ms (missed cycles : 4). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767768 ms (missed cycles : 4).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198342 ms (missed cycles : 7). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198342 ms (missed cycles : 7).[0m ×2 + 40.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 41.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570776 ms (missed cycles : 4). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570776 ms (missed cycles : 4).[0m ×2 + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028646 ms (missed cycles : 2). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028646 ms (missed cycles : 2).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922803 ms (missed cycles : 3). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922803 ms (missed cycles : 3).[0m ×2 + 43.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809030 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809030 ms (missed cycles : 2).[0m ×2 + 44.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636404 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636404 ms (missed cycles : 4).[0m ×2 + 45.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 45.85sWARNamcl_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. + 45.85sWARNamcl_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 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872354 ms (missed cycles : 2). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872354 ms (missed cycles : 2).[0m ×2 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696327 ms (missed cycles : 4). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696327 ms (missed cycles : 4).[0m ×2 + 47.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 47.85sWARNamcl_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. + 47.85sWARNamcl_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 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968866 ms (missed cycles : 5). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968866 ms (missed cycles : 5).[0m ×2 + 48.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919541 ms (missed cycles : 3). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919541 ms (missed cycles : 3).[0m ×2 + 49.85sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.85sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180878 ms (missed cycles : 5). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180878 ms (missed cycles : 5).[0m ×2 + 51.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636562 ms (missed cycles : 4). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636562 ms (missed cycles : 4).[0m ×2 + 51.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 52.05sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.05sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828003 ms (missed cycles : 4). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828003 ms (missed cycles : 4).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589676 ms (missed cycles : 4). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589676 ms (missed cycles : 4).[0m ×2 + 54.05sWARNamcl_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. + 54.05sWARNamcl_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 + 54.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.118ms + 54.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 54.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686445 ms (missed cycles : 2). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686445 ms (missed cycles : 2).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417733 ms (missed cycles : 3). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417733 ms (missed cycles : 3).[0m ×2 + 56.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 57.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 58.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 58.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 59.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 59.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 59.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 60.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 60.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 60.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 60.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 60.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 60.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 60.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 60.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 60.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 61.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 61.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 62.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 62.45sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.45sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 62.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 62.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 63.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.1s | 271 warnings · 224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.61sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 + 7.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.6 s (AMCL untrusted, spread=4.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.6 s (AMCL untrusted, spread=4.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.150ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726417 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726417 ms (missed cycles : 2).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 3.764ms + 8.03sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 3.325ms + 8.33sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 3.220ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467836 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467836 ms (missed cycles : 5).[0m ×2 + 8.63sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 3.515ms + 8.82sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.375ms + 9.03sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.977ms + 9.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 9.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.8 s (AMCL untrusted, spread=3.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.8 s (AMCL untrusted, spread=3.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560935 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560935 ms (missed cycles : 3).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762207 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762207 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 11.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.0 s (AMCL untrusted, spread=2.88); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.0 s (AMCL untrusted, spread=2.88); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124349 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124349 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097862 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097862 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 13.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.0 s (AMCL untrusted, spread=2.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.0 s (AMCL untrusted, spread=2.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370027 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370027 ms (missed cycles : 4).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.834ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.511ms + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500110 ms (missed cycles : 4). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500110 ms (missed cycles : 4).[0m ×2 + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 15.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.2 s (AMCL untrusted, spread=2.89); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.2 s (AMCL untrusted, spread=2.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672845 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672845 ms (missed cycles : 4).[0m ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.591ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124647 ms (missed cycles : 5). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124647 ms (missed cycles : 5).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 17.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.2 s (AMCL untrusted, spread=2.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.2 s (AMCL untrusted, spread=2.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817740 ms (missed cycles : 5). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817740 ms (missed cycles : 5).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923279 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923279 ms (missed cycles : 2).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.435ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 19.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.4 s (AMCL untrusted, spread=2.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.4 s (AMCL untrusted, spread=2.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958844 ms (missed cycles : 3). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958844 ms (missed cycles : 3).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869212 ms (missed cycles : 4). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869212 ms (missed cycles : 4).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 22.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813219 ms (missed cycles : 2). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813219 ms (missed cycles : 2).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.371ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716291 ms (missed cycles : 4). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716291 ms (missed cycles : 4).[0m ×2 + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464288 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464288 ms (missed cycles : 2).[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 24.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.8 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.8 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 25.03sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004011 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004011 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659868 ms (missed cycles : 4). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659868 ms (missed cycles : 4).[0m ×2 + 26.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814869 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814869 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099083 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099083 ms (missed cycles : 3).[0m ×2 + 28.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046780 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046780 ms (missed cycles : 2).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574248 ms (missed cycles : 4). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574248 ms (missed cycles : 4).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 30.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749056 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749056 ms (missed cycles : 2).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909084 ms (missed cycles : 2). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909084 ms (missed cycles : 2).[0m ×2 + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 32.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627993 ms (missed cycles : 3). + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627993 ms (missed cycles : 3).[0m ×2 + 34.17sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896790 ms (missed cycles : 3). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896790 ms (missed cycles : 3).[0m ×2 + 34.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.16sWARNstate_estimatorOptimization exceeded the configured duration by 29533465ns + 35.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216682 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216682 ms (missed cycles : 2).[0m ×2 + 36.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989442 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989442 ms (missed cycles : 3).[0m ×2 + 37.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689515 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689515 ms (missed cycles : 3).[0m ×2 + 37.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms ×2 + 38.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909261 ms (missed cycles : 2). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909261 ms (missed cycles : 2).[0m ×2 + 39.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 39.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132147 ms (missed cycles : 4). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132147 ms (missed cycles : 4).[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592331 ms (missed cycles : 4). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592331 ms (missed cycles : 4).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 41.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 41.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668627 ms (missed cycles : 2). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668627 ms (missed cycles : 2).[0m ×2 + 42.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136776 ms (missed cycles : 2). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136776 ms (missed cycles : 2).[0m ×2 + 43.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 43.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.2 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.2 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352778 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352778 ms (missed cycles : 3).[0m ×2 + 44.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 45.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060528 ms (missed cycles : 4). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060528 ms (missed cycles : 4).[0m ×2 + 45.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236499 ms (missed cycles : 4). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236499 ms (missed cycles : 4).[0m ×2 + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571088 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571088 ms (missed cycles : 2).[0m ×2 + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 48.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391823 ms (missed cycles : 5). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391823 ms (missed cycles : 5).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210930 ms (missed cycles : 4). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210930 ms (missed cycles : 4).[0m ×2 + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178140 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178140 ms (missed cycles : 2).[0m ×2 + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 50.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243679 ms (missed cycles : 3). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243679 ms (missed cycles : 3).[0m ×2 + 51.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338587 ms (missed cycles : 3). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338587 ms (missed cycles : 3).[0m ×2 + 52.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915014 ms (missed cycles : 3). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915014 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460939 ms (missed cycles : 3). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460939 ms (missed cycles : 3).[0m ×2 + 54.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122854 ms (missed cycles : 2). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122854 ms (missed cycles : 2).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473877 ms (missed cycles : 3). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473877 ms (missed cycles : 3).[0m ×2 + 56.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650927 ms (missed cycles : 4). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650927 ms (missed cycles : 4).[0m ×2 + 57.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 58.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 58.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082796 ms (missed cycles : 2). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082796 ms (missed cycles : 2).[0m ×2 + 58.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 58.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.4 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.4 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 59.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442973 ms (missed cycles : 4). + 59.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442973 ms (missed cycles : 4).[0m ×2 + 59.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785003229.37154078 seconds ×3 + 59.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.632ms + 60.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.053ms + 60.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.700ms + 60.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785003229.92205262 seconds. ×3 + 60.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.181ms + 60.62sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 60.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.201ms + 60.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926072 ms (missed cycles : 3). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926072 ms (missed cycles : 3).[0m ×2 + 60.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.290ms + 60.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=1.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=1.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.620ms + 61.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599016 ms (missed cycles : 4). + 61.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599016 ms (missed cycles : 4).[0m ×2 + 62.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.851ms + 62.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.229ms + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060429 ms (missed cycles : 2). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060429 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.2s | 145 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3).[0m ×2 + 7.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.105ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180877 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180877 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260945 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260945 ms (missed cycles : 4).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371018 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371018 ms (missed cycles : 4).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893648 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893648 ms (missed cycles : 3).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977955 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977955 ms (missed cycles : 3).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513327 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513327 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485964 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485964 ms (missed cycles : 4).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404352 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404352 ms (missed cycles : 2).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537662 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537662 ms (missed cycles : 4).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844623 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844623 ms (missed cycles : 3).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680306 ms (missed cycles : 5). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680306 ms (missed cycles : 5).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.207ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487875 ms (missed cycles : 4). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487875 ms (missed cycles : 4).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373734 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373734 ms (missed cycles : 3).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175485 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175485 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364670 ms (missed cycles : 5). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364670 ms (missed cycles : 5).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058099 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058099 ms (missed cycles : 2).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241168 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241168 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928356 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928356 ms (missed cycles : 4).[0m ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983919 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983919 ms (missed cycles : 3).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285601 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285601 ms (missed cycles : 3).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597980 ms (missed cycles : 3). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597980 ms (missed cycles : 3).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115415 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115415 ms (missed cycles : 2).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863514 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863514 ms (missed cycles : 2).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141925 ms (missed cycles : 4). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141925 ms (missed cycles : 4).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410892 ms (missed cycles : 4). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410892 ms (missed cycles : 4).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715252 ms (missed cycles : 4). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715252 ms (missed cycles : 4).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951826 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951826 ms (missed cycles : 3).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683973 ms (missed cycles : 3). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683973 ms (missed cycles : 3).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812991 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812991 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008701 ms (missed cycles : 4). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008701 ms (missed cycles : 4).[0m ×2 + 37.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827494 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827494 ms (missed cycles : 3).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052753 ms (missed cycles : 4). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052753 ms (missed cycles : 4).[0m ×2 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930080 ms (missed cycles : 4). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930080 ms (missed cycles : 4).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596660 ms (missed cycles : 4). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596660 ms (missed cycles : 4).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120745 ms (missed cycles : 5). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120745 ms (missed cycles : 5).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5).[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4).[0m ×2 + 46.39sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785003000.74396706 seconds ×3 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 46.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 47.74sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 47.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 145 warnings · 185 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 0.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms + 1.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.876ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712979 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712979 ms (missed cycles : 4).[0m ×2 + 2.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.16sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785003065.09466624 seconds ×3 + 2.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192095 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192095 ms (missed cycles : 5).[0m ×2 + 2.74sWARNstate_estimatorOptimization exceeded the configured duration by 36073719ns + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785003066.65337825 seconds. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348518 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348518 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=2.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=2.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374906 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374906 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612668 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612668 ms (missed cycles : 4).[0m ×2 + 6.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=2.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=2.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911853 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911853 ms (missed cycles : 4).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.846ms + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.764ms + 7.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.129ms + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.633ms + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540439 ms (missed cycles : 4). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540439 ms (missed cycles : 4).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.542ms + 8.30sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.727ms + 8.59sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.781ms + 8.79sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 3.872ms + 8.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=1.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=1.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718520 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718520 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.764ms + 9.30sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.842ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320312 ms (missed cycles : 4). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320312 ms (missed cycles : 4).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.422ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.592ms + 11.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=1.03); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=1.03); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260416 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260416 ms (missed cycles : 3).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 11.70sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131315 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131315 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 13.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210590 ms (missed cycles : 5). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210590 ms (missed cycles : 5).[0m ×2 + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408240 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408240 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms ×2 + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139766 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139766 ms (missed cycles : 2).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156311 ms (missed cycles : 4). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156311 ms (missed cycles : 4).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118887 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118887 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721588 ms (missed cycles : 2). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721588 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652334 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652334 ms (missed cycles : 2).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 20.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025816 ms (missed cycles : 5). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025816 ms (missed cycles : 5).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923354 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923354 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 22.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160485 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160485 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519522 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519522 ms (missed cycles : 3).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms ×2 + 24.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368063 ms (missed cycles : 4). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368063 ms (missed cycles : 4).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879647 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879647 ms (missed cycles : 3).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278237 ms (missed cycles : 5). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278237 ms (missed cycles : 5).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.425ms + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238208 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238208 ms (missed cycles : 2).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265707 ms (missed cycles : 2). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265707 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.681ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.067251 ms (missed cycles : 7). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.067251 ms (missed cycles : 7).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 31.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3).[0m ×2 + 33.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 33.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785003096.54353547 seconds ×3 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4).[0m ×2 + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 34.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785003097.09861112 seconds. ×3 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 34.47sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 34.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 34.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2).[0m ×2 + 35.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 35.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 35.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5).[0m ×2 + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 36.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 36.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 84 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473877 ms (missed cycles : 3).[0m ×2 + 0.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650927 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650927 ms (missed cycles : 4).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082796 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082796 ms (missed cycles : 2).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 2.39sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.4 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.4 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442973 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442973 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785003229.37154078 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.632ms + 3.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.053ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.700ms + 3.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785003229.92205262 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.181ms + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.201ms + 4.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926072 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926072 ms (missed cycles : 3).[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.290ms + 4.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=1.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=1.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.620ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599016 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599016 ms (missed cycles : 4).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.851ms + 6.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.229ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060429 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060429 ms (missed cycles : 2).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.248ms + 6.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.6 s (AMCL untrusted, spread=1.87); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.6 s (AMCL untrusted, spread=1.87); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.259ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641337 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641337 ms (missed cycles : 4).[0m ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (1.15e-06 s). ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026998 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026998 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.73sINFOobjective_server_nodeFound path in 69 iterations (0.0366965 s). ×2 + 8.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.8 s (AMCL untrusted, spread=1.87); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.8 s (AMCL untrusted, spread=1.87); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166935 ms (missed cycles : 5). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166935 ms (missed cycles : 5).[0m ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.73sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834531 ms (missed cycles : 5). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834531 ms (missed cycles : 5).[0m ×2 + 10.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.8 s (AMCL untrusted, spread=1.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.8 s (AMCL untrusted, spread=1.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.343ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308458 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308458 ms (missed cycles : 4).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.268ms + 11.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.226ms + 12.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.735ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.011ms + 12.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.722ms + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.256ms + 13.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.267ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.874ms + 13.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.877ms + 14.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.158ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.601ms + 15.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.526ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2).[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785003241.89369321 seconds ×3 + 15.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.375ms + 15.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.397ms + 16.26sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.055ms + 16.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785003242.47649527 seconds. ×3 + 16.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.32sINFOmove_groupClearing octomap...[0m ×2 + 16.32sINFOmove_groupOctomap cleared.[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.689ms + 16.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.034ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.654ms + 16.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785003243.03663850 seconds ×3 + 16.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.773ms + 17.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.550ms + 17.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.180ms + 17.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785003243.57550287 seconds. ×3 + 17.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.606ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 17.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785003243.96564317 seconds ×3 + 17.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.674ms + 18.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.395ms + 18.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 18.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.766ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.374ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 97 errors · 46 warnings · 453 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.267ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.874ms + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.877ms + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.158ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.601ms + 1.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.526ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785003241.89369321 seconds ×3 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.375ms + 2.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.397ms + 2.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.055ms + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785003242.47649527 seconds. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.94sINFOmove_groupClearing octomap...[0m ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.689ms + 3.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.034ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.654ms + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785003243.03663850 seconds ×3 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.773ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.550ms + 3.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.180ms + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785003243.57550287 seconds. ×3 + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.606ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785003243.96564317 seconds ×3 + 4.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.674ms + 4.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.395ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.766ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3).[0m ×2 + 5.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.374ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.813ms + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.4 s (AMCL untrusted, spread=2.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.4 s (AMCL untrusted, spread=2.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048429 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048429 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.559ms + 7.03sWARNstate_estimatorOptimization exceeded the configured duration by 31228924ns + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 8.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.4 s (AMCL untrusted, spread=2.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.4 s (AMCL untrusted, spread=2.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142093 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142093 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234627 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234627 ms (missed cycles : 4).[0m ×2 + 10.07sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 10.13sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORweb_video_auth_proxy-36process has died [pid 13740, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.13sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 10.16sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-35process has died [pid 13737, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.16sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 10.21sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 10.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.6 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.23sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 10.26sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 10.28sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 10.30sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.33sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.35sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 10.37sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 10.40sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 10.42sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 10.45sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 10.46sINFOweb_video_server-34process has finished cleanly [pid 13714] ×2 + 10.47sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 10.49sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13713] ×2 + 10.50sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 10.51sINFOcontroller_managerShutdown request received.... + 10.51sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.51sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.51sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.51sINFOcontroller_managerShutting down the controller manager. + 10.53sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 10.53sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 10.53sERRORmove_group-22process has died [pid 13680, 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_e42rpdv1 --params-file /tmp/launch_params_rzzq8vqg --params-file /tmp/launch_params_4icaz63h --params-file /tmp/launch_params_rud0_rbi --params-file /tmp/launch_params__xrmahmz --params-file /tmp/launch_params_m3t3dw3w']. ×2 + 10.55sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.57sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.57sERRORui_teleop_bridge-31process has died [pid 13711, 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_neytt9pk']. ×2 + 10.59sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 10.61sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 10.62sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 10.62sINFOexecute_objective_bridge-30process has finished cleanly [pid 13710] ×2 + 10.64sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 10.64sERRORobjective_server_node_main-27process has died [pid 13704, 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_y320xjes --params-file /tmp/launch_params_xj6a72u5 --params-file /tmp/launch_params_u6cbpwrf --params-file /tmp/launch_params_vboip0qf --params-file /tmp/launch_params_wa50ru4r --params-file /tmp/launch_params_uv0oi479 --params-file /tmp/launch_params_66x2c815 --params-file /tmp/launch_params_l9l_p6dq --params-file /tmp/launch_params_5wxndse6']. ×2 + 10.66sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.68sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.68sINFOcontroller_serverCleaning up + 10.69sINFOlocal_costmap.local_costmapCleaning up + 10.69sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.6 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.69sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.69sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 10.69sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.69sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.69sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.69sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.69sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.69sINFOobjective_server_node[0;m[0m[INFO] [2026-07-25 18:14:09.890] signal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 10.70sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.70sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.70sERRORmove_groupStack trace (most recent call last) in thread 14306: ×2 + 10.70sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.70sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7749b95a63, in __clone ×2 + 10.70sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7749b08aa3, in ×2 + 10.70sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7749d9adb3, in ×2 + 10.70sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f774a4dded7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.70sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f774a10d4d0, in rclcpp::Rate::sleep() ×2 + 10.70sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f774a060a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.70sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f774a025a71, in ×2 + 10.70sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7749d69390, in __cxa_throw ×2 + 10.70sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7749d53a54, in std::terminate() ×2 + 10.70sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7749d690d9, in ×2 + 10.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7749d53ff4, in ×2 + 10.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7749a948fe, in abort ×2 + 10.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7749ab127d, in raise ×2 + 10.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7749b0ab2c, in pthread_kill ×2 + 10.70sERRORmove_groupAborted (Signal sent by tkill() 13680 0) ×2 + 10.70sINFOobjective_server_node[2026-07-25 18:14:10.032] [moveit_pro_license] [info] ×2 + 10.70sINFOobjective_server_node************************************************* ×4 + 10.70sINFOobjective_server_node* MoveIt Pro License ×2 + 10.70sINFOobjective_server_node* Application has successfully terminated ×2 + 10.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.70sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.70sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.70sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.70sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.70sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.70sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.70sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.71sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.71sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.71sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b936a4, in _start ×2 + 10.71sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc093bc728a, in __libc_start_main ×2 + 10.71sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc093bc71d0, in ×2 + 10.71sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc093be4bbd, in exit ×2 + 10.71sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc093be4a75, in ×2 + 10.71sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc0940b38f5, in spdlog::details::registry::~registry() ×2 + 10.71sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b93d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.71sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b9a315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.71sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b995a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.71sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b95b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.71sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5576f5b93d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.71sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc094769454, in rclcpp::Node::~Node() ×2 + 10.71sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc094724515, in ×2 + 10.71sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc094767d20, in ×2 + 10.71sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc094767c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.71sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc0947245d9, in ×2 + 10.71sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc094729161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.71sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc0402ff090]) ×2 + 10.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.71sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.71sINFOodom_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 + 10.71sINFOodom_qos_relay.pymain() ×2 + 10.71sINFOodom_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 + 10.71sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.71sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.71sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.71sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.71sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.71sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.71sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.71sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 10.72sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 10.72sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 142, in <module> ×2 + 10.72sINFOodom_world_drift.pymain() ×2 + 10.72sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 133, in main ×2 + 10.72sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 10.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.72sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 10.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.72sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 10.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.72sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.72sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 10.72sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.72sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.72sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 10.72sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 10.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.73sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.74sINFOsmoother_serverCleaning up + 10.75sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.75sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.75sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.75sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.75sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.77sERRORamclThe bond connection to the lifecycle manager has been broken + 10.78sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.78sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.78sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.78sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.78sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.78sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.78sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.21sERRORcomponent_container_isolated-1process has died [pid 13581, 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_1roldvu9 --params-file /tmp/launch_params_btdyvkqc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.41sINFOcomponent_container_mt-29process has finished cleanly [pid 13708] ×2 + 11.42sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13703] ×2 + 11.45sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13702] ×2 + 11.50sINFOparameter_manager_node-23process has finished cleanly [pid 13681] ×2 + 11.53sINFOwaypoint_manager_node-24process has finished cleanly [pid 13701] ×2 + 11.54sINFOcomponent_container_mt-28process has finished cleanly [pid 13707] ×2 + 11.59sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13588] ×2 + 11.61sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13587] ×2 + 11.61sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13589] ×2 + 11.66sINFOslip_aware_odom-4process has finished cleanly [pid 13584] ×2 + 11.67sERRORodom_qos_relay.py-6process has died [pid 13586, 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 + 11.70sINFOstatic_transform_publisher-2process has finished cleanly [pid 13582] ×2 + 12.65sINFOamcl_odom_gate-5process has finished cleanly [pid 13585] ×2 + 12.73sERRORodom_world_drift.py-3process has died [pid 13583, 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_ys_4majr']. ×2 + 12.94sINFOweb_bridge-32process has finished cleanly [pid 13712] ×2 + 12.94sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 + 13.27sINFOros2_control_node-10process has finished cleanly [pid 13659] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 9 errors · 76 warnings · 120 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.25sINFOjoint_trajectory_controllerGoal reached, success! + 0.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.46sWARNstate_estimatorOptimization exceeded the configured duration by 41386849ns + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158832 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158832 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.538ms + 0.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437926 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437926 ms (missed cycles : 3).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873447 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873447 ms (missed cycles : 3).[0m ×2 + 2.93sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.93sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.11sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.12sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785003128.53880763 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.472ms + 3.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.936ms + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963659 ms (missed cycles : 5). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963659 ms (missed cycles : 5).[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.614ms + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785003129.18366838 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.021ms + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.680ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.827ms + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.733ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257019 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257019 ms (missed cycles : 4).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.995ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.195ms + 4.93sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=4.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.93sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=4.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.339ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.459ms + 5.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.233ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318635 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318635 ms (missed cycles : 5).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.896ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.410ms + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.245ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.705ms + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056206 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056206 ms (missed cycles : 4).[0m ×2 + 7.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.4 s (AMCL untrusted, spread=2.75); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.4 s (AMCL untrusted, spread=2.75); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.455ms + 7.71sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.880ms + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165683 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165683 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.876ms + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232212 ms (missed cycles : 5). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232212 ms (missed cycles : 5).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.476ms + 9.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.4 s (AMCL untrusted, spread=1.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.4 s (AMCL untrusted, spread=1.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.21sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188244 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188244 ms (missed cycles : 2).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142769 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142769 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 11.33sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.33sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514002 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514002 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387930 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387930 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 13.53sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.53sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 13.79sINFOjoint_trajectory_controllerGot request to cancel goal + 13.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785003139.25374341 seconds ×3 + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001759 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001759 ms (missed cycles : 2).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 14.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785003139.80632544 seconds. ×3 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 14.67sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139212 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139212 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 15.53sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.8 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.53sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.8 s (AMCL untrusted, spread=2.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827391 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827391 ms (missed cycles : 2).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133685 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133685 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 55 warnings · 73 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms + 7.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.876ms + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712979 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712979 ms (missed cycles : 4).[0m ×2 + 7.97sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785003065.09466624 seconds ×3 + 8.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192095 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192095 ms (missed cycles : 5).[0m ×2 + 8.55sWARNstate_estimatorOptimization exceeded the configured duration by 36073719ns + 9.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785003066.65337825 seconds. ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348518 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348518 ms (missed cycles : 3).[0m ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=2.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=2.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374906 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374906 ms (missed cycles : 3).[0m ×2 + 10.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612668 ms (missed cycles : 4). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612668 ms (missed cycles : 4).[0m ×2 + 12.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=2.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=2.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.5s | 6 errors · 49 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040679 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040679 ms (missed cycles : 4).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 1.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684092 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684092 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029508 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029508 ms (missed cycles : 2).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.75); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.75); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.38sWARNstate_estimatorOptimization exceeded the configured duration by 50977090ns + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790872 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790872 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.48sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785003168.69649720 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.696ms + 3.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.910ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.609ms + 4.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785003169.27131557 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.017ms + 4.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 5.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 7.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 7.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 8.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 8.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785003000.74396706 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 6.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785003004.22757292 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 6.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785003004.77555776 seconds. ×3 + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 8.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 36 warnings · 60 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.735ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.011ms + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.722ms + 0.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.256ms + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.267ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.874ms + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.877ms + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.158ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.601ms + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.526ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785003241.89369321 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.375ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.397ms + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.055ms + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785003242.47649527 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.689ms + 4.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.034ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4).[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.654ms + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785003243.03663850 seconds ×3 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.773ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.550ms + 5.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.180ms + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785003243.57550287 seconds. ×3 + 5.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.606ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785003243.96564317 seconds ×3 + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.674ms + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.395ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 6.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.766ms + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.374ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.813ms + 7.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.4 s (AMCL untrusted, spread=2.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.4 s (AMCL untrusted, spread=2.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048429 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048429 ms (missed cycles : 4).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.559ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785003000.74396706 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452570 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848716 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931983 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785003000.74396706 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 67 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785003000.74396706 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470078 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785003001.28742123 seconds. ×3 + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.221e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274285 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868608 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785003004.22757292 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853856 ms (missed cycles : 3).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785003004.77555776 seconds. ×3 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508468 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 5.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025454 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840992 ms (missed cycles : 3).[0m ×2 + 6.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533108 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343418 ms (missed cycles : 2).[0m ×2 + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707671 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705019 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785003060.61571622 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.354ms + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.224ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785003061.17452502 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.37sINFOjoint_trajectory_controllerReceived new action goal + 4.37sINFOjoint_trajectory_controllerAccepted new action goal + 4.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779882 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.242ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.778ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866286 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979326 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.073ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 27 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3).[0m ×2 + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785003096.54353547 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785003097.09861112 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 27 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3).[0m ×2 + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785003096.54353547 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785003097.09861112 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 27 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898282 ms (missed cycles : 6).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=5.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963608 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449876 ms (missed cycles : 3).[0m ×2 + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=10.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785003096.54353547 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600219 ms (missed cycles : 4).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785003097.09861112 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374537 ms (missed cycles : 2).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=6.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838447 ms (missed cycles : 5).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 30 warnings · 43 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129050 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.573ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.389ms + 0.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.4 s (AMCL untrusted, spread=5.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222041 ms (missed cycles : 4).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.891ms + 1.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.915ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189267 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.273ms + 2.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.462ms + 2.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=4.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305390 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.417ms + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785003173.26145244 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785003173.82140207 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571987 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.6 s (AMCL untrusted, spread=4.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600763 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631441 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 30 warnings · 58 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.735ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071276 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.011ms + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.722ms + 0.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.8 s (AMCL untrusted, spread=1.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.256ms + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.267ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550953 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.874ms + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.877ms + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.158ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476676 ms (missed cycles : 5).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.601ms + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.0 s (AMCL untrusted, spread=5.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.526ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163613 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785003241.89369321 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.375ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.397ms + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.055ms + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785003242.47649527 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.689ms + 4.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.034ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161241 ms (missed cycles : 4).[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.654ms + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785003243.03663850 seconds ×3 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.773ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.550ms + 5.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.2 s (AMCL untrusted, spread=1.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.180ms + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785003243.57550287 seconds. ×3 + 5.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.606ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623550 ms (missed cycles : 4).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785003243.96564317 seconds ×3 + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.674ms + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.395ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 6.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.766ms + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600071 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.374ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 24.7s | 72 errors · 775 warnings · 1944 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/2026-07-25-18-03-21-494848-447f358164c4-9357 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 9.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.19sINFOros2_control_node-10process started with pid [9495] + 9.19sINFOmove_group-22process started with pid [9513] + 9.19sINFOparameter_manager_node-23process started with pid [9514] + 9.19sINFOwaypoint_manager_node-24process started with pid [9534] + 9.20sINFOmove_joint_resampler_node-25process started with pid [9535] + 9.20sINFOmove_end_effector_resampler_node-26process started with pid [9536] + 9.20sINFOobjective_server_node_main-27process started with pid [9538] + 9.20sINFOcomponent_container_mt-28process started with pid [9539] + 9.20sINFOcomponent_container_mt-29process started with pid [9540] + 9.20sINFOexecute_objective_bridge-30process started with pid [9541] + 9.20sINFOui_teleop_bridge-31process started with pid [9542] + 9.20sINFOweb_bridge-32process started with pid [9543] + 9.20sINFOtf2_web_republisher_node-33process started with pid [9544] + 9.20sINFOweb_video_server-34process started with pid [9545] + 9.20sINFOweb_bridge_auth_proxy-35process started with pid [9546] + 9.20sINFOweb_video_auth_proxy-36process started with pid [9562] + 9.20sINFOcomponent_container_isolated-1process started with pid [9407] + 9.20sINFOstatic_transform_publisher-2process started with pid [9408] + 9.20sINFOodom_world_drift.py-3process started with pid [9409] + 9.20sINFOslip_aware_odom-4process started with pid [9410] + 9.20sINFOamcl_odom_gate-5process started with pid [9411] + 9.20sINFOodom_qos_relay.py-6process started with pid [9412] + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 9.21sINFOscan_to_scan_filter_chain-7process started with pid [9413] + 9.21sINFOscan_to_scan_filter_chain-8process started with pid [9414] + 9.21sINFOfixed_lag_smoother_node-9process started with pid [9415] + 9.21sINFOros2-11process started with pid [9496] + 9.21sINFOros2-12process started with pid [9497] + 9.21sINFOros2-13process started with pid [9498] + 9.21sINFOros2-14process started with pid [9499] + 9.21sINFOros2-15process started with pid [9502] + 9.21sINFOros2-16process started with pid [9503] + 9.21sINFOros2-17process started with pid [9504] + 9.21sINFOros2-18process started with pid [9508] + 9.21sINFOros2-19process started with pid [9510] + 9.21sINFOros2-20process started with pid [9511] + 9.21sINFOros2-21process started with pid [9512] + 9.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.35sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 9.35sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 9.35sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 9.35sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 9.35sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.36sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.36sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.36sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.36sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.36sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.36sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262103 ms (missed cycles : 5).[0m + 9.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.38sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 9.41sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 9.49sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.51sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.51sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.55sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 9.73sINFOmove_groupLoaded robot model in 0.402807 seconds[0m + 9.74sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.74sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.87sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.89sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.89sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 9.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 10.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 10.43sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.49sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.64sINFOwaypoint_manager_nodeLoaded robot model in 0.335735 seconds[0m + 10.66sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.66sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869654 ms (missed cycles : 2).[0m + 10.85sINFOmove_group[2026-07-25 18:03:34.806] [moveit_pro_license] [info] + 10.85sINFOmove_group************************************************* ×6 + 10.85sINFOmove_group* MoveIt Pro License ×3 + 10.85sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×11 + 11.23sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 11.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 11.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 11.30sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 11.30sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 11.30sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.30sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 11.30sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 11.31sINFOmove_groupStarting planning scene monitor[0m ×3 + 11.31sINFOmove_groupListening to '/planning_scene'[0m ×3 + 11.31sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 11.31sINFOmove_groupListening to 'collision_object'[0m ×3 + 11.31sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 11.51sINFOwaypoint_manager_node[2026-07-25 18:03:35.468] [moveit_pro_license] [info] + 11.51sINFOwaypoint_manager_node************************************************* ×6 + 11.51sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 11.51sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.84sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.84sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.94sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.94sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.94sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.94sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.94sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.94sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.94sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.94sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.94sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.94sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.94sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.94sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.94sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.99sWARNros2_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 + 12.01sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 12.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 12.01sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 12.02sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 12.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 12.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 12.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 12.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.15sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 12.17sINFOobjective_server_node[2026-07-25 18:03:36.131] [moveit_pro_license] [info] + 12.17sINFOobjective_server_node************************************************* ×8 + 12.17sINFOobjective_server_node* MoveIt Pro License ×4 + 12.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 12.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.18sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085025 ms (missed cycles : 2).[0m + 12.21sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 12.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.22sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.22sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 12.23sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.24sINFOobjective_server_nodeLoaded robot model in 0.0249827 seconds[0m + 12.24sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 12.24sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.47sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.53sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 12.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 12.54sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.55sINFOcomponent_container_mtLoaded robot model in 0.403215 seconds[0m + 12.55sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 12.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.58sINFOros2-15process has finished cleanly [pid 9502] + 12.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.64sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.64sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.65sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.65sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.69sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.69sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.72sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.72sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.72sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.72sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.73sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.81sINFOmove_group ×12 + 12.81sINFOmove_group******************************************************** ×6 + 12.81sINFOmove_group* MoveGroup using: ×3 + 12.81sINFOmove_group* - apply_planning_scene_service ×3 + 12.81sINFOmove_group* - clear_octomap_service ×3 + 12.81sINFOmove_group* - get_group_urdf ×3 + 12.81sINFOmove_group* - load_geometry_from_file ×3 + 12.81sINFOmove_group* - get_planning_scene_service ×3 + 12.81sINFOmove_group* - kinematics_service ×3 + 12.81sINFOmove_group* - save_geometry_to_file ×3 + 12.81sINFOmove_group* - GetPlanningGroups ×3 + 12.81sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.81sINFOmove_group[0m ×3 + 12.81sINFOmove_group[92mYou can start planning now![0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.85sWARNcomponent_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 + 13.01sINFOros2-17process has finished cleanly [pid 9504] + 13.08sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 13.09sINFOcomponent_container_mt[2026-07-25 18:03:37.056] [moveit_pro_license] [info] + 13.09sINFOcomponent_container_mt************************************************* ×6 + 13.09sINFOcomponent_container_mt* MoveIt Pro License ×3 + 13.09sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144472 ms (missed cycles : 2).[0m + 13.27sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 13.27sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 13.27sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 13.29sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 13.29sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 13.30sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 13.30sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 13.33sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 13.33sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 13.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 13.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 13.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 13.65sINFOros2-12process has finished cleanly [pid 9497] + 13.66sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.66sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.76sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 13.81sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 13.81sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 13.82sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.05sINFOros2_control_node[2026-07-25 18:03:38.009] [warning] No force/torque sensor configured. The VFC will ignore force references. + 14.05sINFOros2_control_node[2026-07-25 18:03:38.012] [info] Controller state will be published at 10 Hz. + 14.05sINFOros2_control_node[2026-07-25 18:03:38.013] [info] VelocityForceController 'on_configure' succeeded. + 14.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548922 ms (missed cycles : 5).[0m + 14.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 14.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 14.39sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 14.42sINFOros2-19process has finished cleanly [pid 9510] + 14.45sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 14.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 14.46sINFOros2_control_nodeconfigure successful[0m ×9 + 14.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 14.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 14.84sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 14.88sINFOros2-16process has finished cleanly [pid 9503] + 14.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 14.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 14.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 14.91sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 14.91sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 14.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 14.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784440 ms (missed cycles : 4).[0m + 15.43sINFOros2-13process has finished cleanly [pid 9498] + 15.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 15.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 15.72sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 15.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 15.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 15.74sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.09sINFOros2-14process has finished cleanly [pid 9499] + 16.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 16.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 16.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713597 ms (missed cycles : 2).[0m + 16.47sINFOros2_control_node[2026-07-25 18:03:40.429] [info] Controller state will be published at 20 Hz. + 16.47sINFOros2_control_node[2026-07-25 18:03:40.431] [info] JointVelocityController 'on_configure' succeeded. + 16.82sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.82sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 16.82sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 16.85sINFOros2-20process has finished cleanly [pid 9511] + 16.90sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 16.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.17sINFOros2_control_node[2026-07-25 18:03:41.136] [info] Controller state will be published at 20 Hz. + 17.18sINFOros2_control_node[2026-07-25 18:03:41.137] [info] JointVelocityController 'on_configure' succeeded. + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919888 ms (missed cycles : 2).[0m + 17.55sINFOros2-21process has finished cleanly [pid 9512] + 17.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 17.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 17.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 17.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 17.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 17.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 18.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 18.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ratgbgwj --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_7qq5ltrf --params-file /tmp/launch_params_y0ivf1gp [0m + 18.22sINFOros2-11process has finished cleanly [pid 9496] + 18.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 18.24sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212128 ms (missed cycles : 2).[0m + 18.52sINFOros2_control_node[2026-07-25 18:03:42.481] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.52sINFOros2_control_node[2026-07-25 18:03:42.483] [info] Controller state will be published at 10 Hz. + 18.52sINFOros2_control_node[2026-07-25 18:03:42.484] [info] VelocityForceController 'on_configure' succeeded. + 18.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 18.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 18.85sINFOros2-18process has finished cleanly [pid 9508] + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429388 ms (missed cycles : 5).[0m + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491648 ms (missed cycles : 2).[0m + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507772 ms (missed cycles : 3).[0m + 21.99sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894535 ms (missed cycles : 3).[0m + 23.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002627.64167047 seconds. + 23.68sINFOmove_groupClearing octomap...[0m ×4 + 23.68sINFOmove_groupOctomap cleared.[0m ×4 + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495436 ms (missed cycles : 4).[0m + 23.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002627.65227556 seconds + 24.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002628.19458580 seconds. + 24.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002628.21473289 seconds + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436136 ms (missed cycles : 5).[0m + 24.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002628.75542140 seconds. + 24.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002628.90611291 seconds + 25.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002629.47114682 seconds. + 25.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 25.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002629.53134418 seconds + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514899 ms (missed cycles : 5).[0m + 26.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002630.08493543 seconds. + 26.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 26.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 26.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 26.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995899 ms (missed cycles : 4).[0m + 27.17sINFOobjective_server_nodePlanning for 177 path waypoints. + 27.41sINFOros2_control_nodeReceived new action goal[0m ×14 + 27.41sINFOros2_control_nodeAccepted new action goal[0m ×14 + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558751 ms (missed cycles : 2).[0m + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955826 ms (missed cycles : 3).[0m + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071836 ms (missed cycles : 2).[0m + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955201 ms (missed cycles : 3).[0m + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920994 ms (missed cycles : 3).[0m + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765192 ms (missed cycles : 2).[0m + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420209 ms (missed cycles : 3).[0m + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747971 ms (missed cycles : 2).[0m + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081584 ms (missed cycles : 4).[0m + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929240 ms (missed cycles : 2).[0m + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757571 ms (missed cycles : 2).[0m + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912611 ms (missed cycles : 3).[0m + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968472 ms (missed cycles : 2).[0m + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890892 ms (missed cycles : 3).[0m + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985020 ms (missed cycles : 3).[0m + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851230 ms (missed cycles : 3).[0m + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811417 ms (missed cycles : 3).[0m + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224460 ms (missed cycles : 2).[0m + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855577 ms (missed cycles : 2).[0m + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823187 ms (missed cycles : 4).[0m + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824033 ms (missed cycles : 5).[0m + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898342 ms (missed cycles : 3).[0m + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244504 ms (missed cycles : 4).[0m + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868390 ms (missed cycles : 3).[0m + 52.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494308 ms (missed cycles : 3).[0m + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956942 ms (missed cycles : 3).[0m + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926747 ms (missed cycles : 2).[0m + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263569 ms (missed cycles : 3).[0m + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930154 ms (missed cycles : 4).[0m + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924430 ms (missed cycles : 3).[0m + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281142 ms (missed cycles : 4).[0m + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109325 ms (missed cycles : 5).[0m + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285244 ms (missed cycles : 5).[0m + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906163 ms (missed cycles : 3).[0m + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840109 ms (missed cycles : 2).[0m + 63.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176125 ms (missed cycles : 4).[0m + 64.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893583 ms (missed cycles : 3).[0m + 65.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509427 ms (missed cycles : 4).[0m + 66.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434739 ms (missed cycles : 3).[0m + 67.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237555 ms (missed cycles : 5).[0m + 68.99sINFOros2_control_nodeGoal reached, success![0m ×13 + 69.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785002672.98387766 seconds + 69.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825855 ms (missed cycles : 2).[0m + 69.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785002673.52440310 seconds. + 70.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921695 ms (missed cycles : 3).[0m + 70.36sINFOobjective_server_nodeFound path in 0 iterations (2.5501e-05 s). + 70.36sINFOobjective_server_nodePath shortcutter: [X____X] + 70.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 71.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602169 ms (missed cycles : 3).[0m + 72.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370632 ms (missed cycles : 3).[0m + 72.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785002676.44452715 seconds + 73.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785002676.99154735 seconds. + 73.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247653 ms (missed cycles : 2).[0m + 73.32sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 74.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890089 ms (missed cycles : 3).[0m + 74.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 75.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544761 ms (missed cycles : 4).[0m + 76.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940204 ms (missed cycles : 3).[0m + 77.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870765 ms (missed cycles : 4).[0m + 78.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493209 ms (missed cycles : 4).[0m + 79.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248586 ms (missed cycles : 5).[0m + 80.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441266 ms (missed cycles : 4).[0m + 81.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157872 ms (missed cycles : 2).[0m + 82.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m + 82.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626819 ms (missed cycles : 2).[0m + 83.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240395 ms (missed cycles : 5).[0m + 84.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274320 ms (missed cycles : 4).[0m + 85.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553857 ms (missed cycles : 4).[0m + 86.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832012 ms (missed cycles : 2).[0m + 87.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533926 ms (missed cycles : 4).[0m + 88.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162341 ms (missed cycles : 5).[0m + 89.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099573 ms (missed cycles : 2).[0m + 90.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509920 ms (missed cycles : 4).[0m + 92.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539252 ms (missed cycles : 4).[0m + 93.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803444 ms (missed cycles : 2).[0m + 94.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572501 ms (missed cycles : 4).[0m + 95.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896284 ms (missed cycles : 3).[0m + 96.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519030 ms (missed cycles : 5).[0m + 97.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274324 ms (missed cycles : 2).[0m + 98.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389927 ms (missed cycles : 4).[0m + 99.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841502 ms (missed cycles : 2).[0m +100.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654322 ms (missed cycles : 4).[0m +101.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414666 ms (missed cycles : 2).[0m +102.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028558 ms (missed cycles : 3).[0m +103.13sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +103.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066192 ms (missed cycles : 3).[0m +104.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284619 ms (missed cycles : 3).[0m +105.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892747 ms (missed cycles : 3).[0m +106.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368770 ms (missed cycles : 4).[0m +107.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010212 ms (missed cycles : 2).[0m +108.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469790 ms (missed cycles : 3).[0m +109.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839372 ms (missed cycles : 5).[0m +110.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512775 ms (missed cycles : 2).[0m +111.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906039 ms (missed cycles : 6).[0m +112.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944817 ms (missed cycles : 3).[0m +114.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604695 ms (missed cycles : 4).[0m +114.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +115.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270042 ms (missed cycles : 2).[0m +116.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444685 ms (missed cycles : 3).[0m +116.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +117.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824693 ms (missed cycles : 4).[0m +118.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419115 ms (missed cycles : 2).[0m +118.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +119.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106208 ms (missed cycles : 2).[0m +120.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199283 ms (missed cycles : 2).[0m +120.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +121.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166708 ms (missed cycles : 2).[0m +122.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639579 ms (missed cycles : 4).[0m +122.72sWARNamcl_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 +123.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.683018 ms (missed cycles : 7).[0m +124.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196240 ms (missed cycles : 3).[0m +124.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +125.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650294 ms (missed cycles : 3).[0m +126.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139385 ms (missed cycles : 4).[0m +126.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +127.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279589 ms (missed cycles : 2).[0m +128.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000772 ms (missed cycles : 3).[0m +128.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785002732.73169827 seconds +129.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=1.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +129.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785002733.29000306 seconds. +129.62sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 +129.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +129.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620607 ms (missed cycles : 4).[0m +130.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715580 ms (missed cycles : 4).[0m +131.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=1.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +131.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622361 ms (missed cycles : 3).[0m +132.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238664 ms (missed cycles : 5).[0m +133.13sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=1.09); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +133.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785002737.26015711 seconds +133.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m +134.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785002738.81966519 seconds. +134.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062187 ms (missed cycles : 4).[0m +135.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 +135.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=1.10); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +135.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843699 ms (missed cycles : 4).[0m +136.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +136.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496101 ms (missed cycles : 4).[0m +137.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +137.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528446 ms (missed cycles : 3).[0m +139.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429455 ms (missed cycles : 3).[0m +139.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +140.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932071 ms (missed cycles : 4).[0m +141.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680193 ms (missed cycles : 2).[0m +141.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +142.00sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m +142.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210527 ms (missed cycles : 2).[0m +143.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833053 ms (missed cycles : 2).[0m +144.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +144.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238357 ms (missed cycles : 5).[0m +145.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732046 ms (missed cycles : 2).[0m +146.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839906 ms (missed cycles : 2).[0m +147.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391702 ms (missed cycles : 2).[0m +148.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677080 ms (missed cycles : 2).[0m +149.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697878 ms (missed cycles : 3).[0m +150.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929825 ms (missed cycles : 2).[0m +151.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700473 ms (missed cycles : 3).[0m +152.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496175 ms (missed cycles : 2).[0m +153.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243494 ms (missed cycles : 2).[0m +154.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449906 ms (missed cycles : 6).[0m +155.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918345 ms (missed cycles : 2).[0m +156.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872105 ms (missed cycles : 3).[0m +157.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038951 ms (missed cycles : 2).[0m +158.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888204 ms (missed cycles : 2).[0m +159.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109800 ms (missed cycles : 5).[0m +160.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932799 ms (missed cycles : 2).[0m +161.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457701 ms (missed cycles : 2).[0m +162.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922896 ms (missed cycles : 2).[0m +163.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +163.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081351 ms (missed cycles : 4).[0m +164.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785002768.70981121 seconds +164.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101086 ms (missed cycles : 2).[0m +165.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785002769.26097536 seconds. +165.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +165.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=6.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +165.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428412 ms (missed cycles : 3).[0m +166.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +166.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506080 ms (missed cycles : 4).[0m +167.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=5.80); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +167.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964932 ms (missed cycles : 3).[0m +168.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599496 ms (missed cycles : 2).[0m +169.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=5.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +170.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473807 ms (missed cycles : 4).[0m +171.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658747 ms (missed cycles : 4).[0m +172.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=4.75); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +172.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714042 ms (missed cycles : 3).[0m +173.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450064 ms (missed cycles : 3).[0m +174.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058903 ms (missed cycles : 4).[0m +174.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=4.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +175.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856287 ms (missed cycles : 2).[0m +176.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780729 ms (missed cycles : 3).[0m +176.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=2.02); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +177.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581270 ms (missed cycles : 5).[0m +178.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600233 ms (missed cycles : 5).[0m +178.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +179.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336669 ms (missed cycles : 4).[0m +180.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897257 ms (missed cycles : 2).[0m +180.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +181.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468409 ms (missed cycles : 6).[0m +182.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236908 ms (missed cycles : 2).[0m +182.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +183.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643075 ms (missed cycles : 4).[0m +184.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927025 ms (missed cycles : 6).[0m +184.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +185.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346070 ms (missed cycles : 5).[0m +186.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500719 ms (missed cycles : 4).[0m +186.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +187.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214110 ms (missed cycles : 5).[0m +188.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335262 ms (missed cycles : 3).[0m +188.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +189.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005914 ms (missed cycles : 2).[0m +190.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +190.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192075 ms (missed cycles : 4).[0m +191.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183635 ms (missed cycles : 4).[0m +193.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572551 ms (missed cycles : 4).[0m +193.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +194.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315735 ms (missed cycles : 5).[0m +195.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.6 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +195.13sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +195.13sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +195.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785002799.09130669 seconds +195.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369470 ms (missed cycles : 2).[0m +195.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785002799.74405932 seconds. +196.09sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +196.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239210 ms (missed cycles : 2).[0m +197.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.6 s (AMCL untrusted, spread=8.08); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +197.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055717 ms (missed cycles : 2).[0m +198.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252526 ms (missed cycles : 3).[0m +199.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=7.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +199.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015543 ms (missed cycles : 5).[0m +200.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819923 ms (missed cycles : 3).[0m +201.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339592 ms (missed cycles : 4).[0m +201.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=4.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +202.01sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m +202.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047123 ms (missed cycles : 2).[0m +203.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653282 ms (missed cycles : 4).[0m +203.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.0 s (AMCL untrusted, spread=3.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +204.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593111 ms (missed cycles : 5).[0m +205.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046913 ms (missed cycles : 4).[0m +205.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.2 s (AMCL untrusted, spread=3.02); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +206.05sINFOros2_control_nodeGot request to cancel goal[0m +206.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +206.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785002810.04142118 seconds +206.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266047 ms (missed cycles : 4).[0m +206.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785002810.58620930 seconds. +207.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390667 ms (missed cycles : 3).[0m +207.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.2 s (AMCL untrusted, spread=5.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +208.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335581 ms (missed cycles : 3).[0m +209.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125048 ms (missed cycles : 4).[0m +209.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=2.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +210.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779512 ms (missed cycles : 3).[0m +211.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468174 ms (missed cycles : 3).[0m +211.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=1.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +212.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299837 ms (missed cycles : 4).[0m +213.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686799 ms (missed cycles : 3).[0m +213.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +214.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691710 ms (missed cycles : 5).[0m +215.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586907 ms (missed cycles : 4).[0m +216.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +217.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807731 ms (missed cycles : 2).[0m +218.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670939 ms (missed cycles : 2).[0m +218.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 59.8 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +219.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014608 ms (missed cycles : 3).[0m +220.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199909 ms (missed cycles : 3).[0m +220.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +221.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899575 ms (missed cycles : 2).[0m +222.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287814 ms (missed cycles : 5).[0m +222.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +223.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081424 ms (missed cycles : 2).[0m +224.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940988 ms (missed cycles : 3).[0m +224.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +225.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020359 ms (missed cycles : 3).[0m +226.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.213633 ms (missed cycles : 7).[0m +226.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.2 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +227.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085018 ms (missed cycles : 2).[0m +228.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587215 ms (missed cycles : 2).[0m +228.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +229.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929550 ms (missed cycles : 3).[0m +230.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612603 ms (missed cycles : 4).[0m +230.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.4 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +231.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961738 ms (missed cycles : 3).[0m +232.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.488513 ms (missed cycles : 8).[0m +233.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.6 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +233.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454352 ms (missed cycles : 2).[0m +234.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660847 ms (missed cycles : 4).[0m +235.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.6 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +235.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016835 ms (missed cycles : 2).[0m +236.06sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +236.07sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +236.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785002840.03639126 seconds +236.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249226 ms (missed cycles : 5).[0m +236.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785002840.63005018 seconds. +237.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.8 s (AMCL untrusted, spread=2.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +237.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889019 ms (missed cycles : 3).[0m +238.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965120 ms (missed cycles : 2).[0m +239.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.0 s (AMCL untrusted, spread=3.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +239.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088811 ms (missed cycles : 4).[0m +240.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785002844.60022616 seconds +240.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729810 ms (missed cycles : 5).[0m +241.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785002845.15538239 seconds. +241.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.0 s (AMCL untrusted, spread=3.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +241.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971110 ms (missed cycles : 2).[0m +242.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016492 ms (missed cycles : 3).[0m +243.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.2 s (AMCL untrusted, spread=3.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +243.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007930 ms (missed cycles : 3).[0m +244.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035090 ms (missed cycles : 3).[0m +245.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=2.93); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +245.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791985 ms (missed cycles : 5).[0m +247.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961528 ms (missed cycles : 2).[0m +247.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=2.09); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +248.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866825 ms (missed cycles : 4).[0m +249.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308727 ms (missed cycles : 3).[0m +250.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=2.04); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +250.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920889 ms (missed cycles : 2).[0m +251.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592180 ms (missed cycles : 4).[0m +252.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=2.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +252.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162067 ms (missed cycles : 2).[0m +253.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257549 ms (missed cycles : 2).[0m +254.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=3.03); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +254.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.606868 ms (missed cycles : 4).[0m +255.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909759 ms (missed cycles : 4).[0m +256.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961312 ms (missed cycles : 2).[0m +256.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.0 s (AMCL untrusted, spread=3.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +257.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546859 ms (missed cycles : 3).[0m +258.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328938 ms (missed cycles : 2).[0m +258.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.2 s (AMCL untrusted, spread=2.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +259.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395761 ms (missed cycles : 2).[0m +260.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.944292 ms (missed cycles : 6).[0m +260.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.2 s (AMCL untrusted, spread=1.88); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +261.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694508 ms (missed cycles : 2).[0m +262.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577173 ms (missed cycles : 4).[0m +262.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.4 s (AMCL untrusted, spread=1.98); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +263.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670289 ms (missed cycles : 2).[0m +264.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531959 ms (missed cycles : 2).[0m +265.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.6 s (AMCL untrusted, spread=3.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +265.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157499 ms (missed cycles : 2).[0m +266.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923727 ms (missed cycles : 3).[0m +267.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=6.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +267.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313352 ms (missed cycles : 5).[0m +268.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976196 ms (missed cycles : 4).[0m +269.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=5.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +269.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955780 ms (missed cycles : 5).[0m +270.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.476018 ms (missed cycles : 7).[0m +271.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.0 s (AMCL untrusted, spread=4.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +271.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139283 ms (missed cycles : 2).[0m +272.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372668 ms (missed cycles : 5).[0m +273.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=4.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +274.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293528 ms (missed cycles : 5).[0m +275.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755190 ms (missed cycles : 2).[0m +275.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.2 s (AMCL untrusted, spread=4.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +276.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909896 ms (missed cycles : 3).[0m +277.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503603 ms (missed cycles : 4).[0m +277.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.2 s (AMCL untrusted, spread=3.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +278.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300545 ms (missed cycles : 2).[0m +279.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712729 ms (missed cycles : 2).[0m +279.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.4 s (AMCL untrusted, spread=2.83); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +280.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376462 ms (missed cycles : 3).[0m +281.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638432 ms (missed cycles : 3).[0m +282.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.6 s (AMCL untrusted, spread=1.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +282.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674662 ms (missed cycles : 2).[0m +283.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845874 ms (missed cycles : 5).[0m +284.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.8 s (AMCL untrusted, spread=1.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +284.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971585 ms (missed cycles : 3).[0m +285.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238200 ms (missed cycles : 2).[0m +286.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.659291 ms (missed cycles : 7).[0m +286.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.0 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +287.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272261 ms (missed cycles : 2).[0m +288.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684084 ms (missed cycles : 2).[0m +288.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +289.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.616469 ms (missed cycles : 6).[0m +290.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +290.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813593 ms (missed cycles : 2).[0m +291.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011101 ms (missed cycles : 2).[0m +292.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +292.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198746 ms (missed cycles : 4).[0m +293.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065461 ms (missed cycles : 2).[0m +294.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856960 ms (missed cycles : 2).[0m +294.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +295.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256921 ms (missed cycles : 4).[0m +296.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785002900.56551933 seconds +296.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +296.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058398 ms (missed cycles : 2).[0m +297.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785002901.12148380 seconds. +297.44sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). +298.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672563 ms (missed cycles : 4).[0m +298.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +299.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656635 ms (missed cycles : 4).[0m +300.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995503 ms (missed cycles : 3).[0m +300.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +301.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183922 ms (missed cycles : 4).[0m +301.57sINFOobjective_server_nodeFound path in 0 iterations (7.6e-07 s). +301.59sINFOobjective_server_nodePath shortcutter: [X__________________X] +301.62sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). +301.64sINFOobjective_server_nodePath shortcutter: [X____________________X] +301.67sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +301.71sINFOobjective_server_nodePath shortcutter: [X_________________________X] +301.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 +301.85sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +301.89sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). +302.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +302.08sINFOobjective_server_nodeFound path in 69 iterations (0.0383298 s). +302.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +302.28sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). +302.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841698 ms (missed cycles : 3).[0m +302.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +302.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +303.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.6 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +303.15sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +303.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614918 ms (missed cycles : 4).[0m +304.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260764 ms (missed cycles : 3).[0m +305.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +305.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730340 ms (missed cycles : 2).[0m +306.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243646 ms (missed cycles : 2).[0m +307.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.8 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +307.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579713 ms (missed cycles : 2).[0m +308.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040216 ms (missed cycles : 3).[0m +309.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785002913.10312057 seconds +309.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435331 ms (missed cycles : 2).[0m +309.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.0 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +309.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785002913.68419981 seconds. +310.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785002914.09476161 seconds +310.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812718 ms (missed cycles : 2).[0m +310.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785002914.64822793 seconds. +311.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785002915.06836987 seconds +311.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +311.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767833 ms (missed cycles : 3).[0m +311.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.2 s (AMCL untrusted, spread=0.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +312.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073665 ms (missed cycles : 3).[0m +313.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462481 ms (missed cycles : 3).[0m +313.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.2 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +314.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825996 ms (missed cycles : 3).[0m +315.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782804 ms (missed cycles : 2).[0m +315.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.4 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +316.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166671 ms (missed cycles : 4).[0m +316.88sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.88sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.88sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.89sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.89sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.89sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.89sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.90sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.90sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.90sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.91sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.91sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.91sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.91sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +316.93sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORweb_video_auth_proxy-36process has died [pid 9562, 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']. +316.94sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +316.97sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.97sERRORweb_bridge_auth_proxy-35process has died [pid 9546, 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']. +316.97sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.97sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.98sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.98sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.98sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.98sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +317.00sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +317.02sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +317.04sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +317.06sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +317.08sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +317.10sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +317.13sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +317.15sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +317.18sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +317.21sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +317.23sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +317.25sINFOweb_video_server-34process has finished cleanly [pid 9545] +317.26sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +317.29sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +317.30sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9544] +317.32sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +317.32sERRORmove_group-22process has died [pid 9513, 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_g04vj6o4 --params-file /tmp/launch_params_e17mbsss --params-file /tmp/launch_params_t5a4xizp --params-file /tmp/launch_params_9w0pzpzt --params-file /tmp/launch_params_jp7n9s04 --params-file /tmp/launch_params_v5hcx50q']. +317.34sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +317.36sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +317.37sERRORui_teleop_bridge-31process has died [pid 9542, 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_a01zeyl8']. +317.38sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +317.39sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +317.40sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +317.42sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +317.42sINFOexecute_objective_bridge-30process has finished cleanly [pid 9541] +317.44sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +317.46sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +317.46sERRORobjective_server_node_main-27process has died [pid 9538, 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_tuepwt8t --params-file /tmp/launch_params_eyqcch2f --params-file /tmp/launch_params_606jcyyt --params-file /tmp/launch_params_ybeowlff --params-file /tmp/launch_params_rcrl1w9o --params-file /tmp/launch_params_gnqyw7_7 --params-file /tmp/launch_params_lrab5g_h --params-file /tmp/launch_params_fcieh1ld --params-file /tmp/launch_params_fcgapm9r']. +317.47sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +317.47sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +317.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +317.48sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +317.48sERRORui_teleop_bridgeTraceback (most recent call last): +317.48sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +317.48sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +317.48sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +317.48sINFOui_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 +317.48sINFOui_teleop_bridgerclpy.shutdown() +317.48sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +317.48sINFOui_teleop_bridge_shutdown(context=context) +317.48sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +317.48sINFOui_teleop_bridgecontext.shutdown() +317.48sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +317.48sINFOui_teleop_bridgeself.__context.shutdown() +317.48sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +317.48sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +317.48sINFOobjective_server_node[0;m[0m[INFO] [2026-07-25 18:08:41.921] signal_handler(SIGINT/SIGTERM)[0m +317.48sINFOcomponent_container_mtStopping planning scene monitor[0m +317.48sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +317.48sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +317.48sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +317.48sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +317.48sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +317.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +317.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid +317.48sERRORmove_groupStack trace (most recent call last) in thread 10152: +317.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +317.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8446b16a63, in __clone +317.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8446a89aa3, in +317.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8446d1bdb3, in +317.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f844745eed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +317.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f844708e4d0, in rclcpp::Rate::sleep() +317.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8446fe1a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +317.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8446fa6a71, in +317.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8446cea390, in __cxa_throw +317.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8446cd4a54, in std::terminate() +317.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8446cea0d9, in +317.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8446cd4ff4, in +317.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8446a158fe, in abort +317.49sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8446a3227d, in raise +317.49sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8446a8bb2c, in pthread_kill +317.49sERRORmove_groupAborted (Signal sent by tkill() 9513 0) +317.49sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +317.49sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +317.49sINFOros2_control_nodeShutdown request received....[0m +317.49sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +317.49sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +317.49sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +317.49sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +317.49sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +317.49sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +317.49sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +317.49sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +317.49sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +317.49sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +317.49sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +317.49sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +317.49sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +317.49sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +317.49sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +317.49sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +317.49sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +317.49sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +317.49sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +317.49sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +317.49sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +317.49sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +317.49sINFOros2_control_nodeShutting down the controller manager.[0m +317.49sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +317.49sINFOobjective_server_node[2026-07-25 18:08:41.261] [moveit_pro_license] [info] +317.49sINFOobjective_server_node* Application has successfully terminated +317.49sERRORobjective_server_nodeStack trace (most recent call last): +317.49sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +317.49sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +317.49sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6cd6a4, in _start +317.49sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67f493f28a, in __libc_start_main +317.49sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67f493f1d0, in +317.49sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67f495cbbd, in exit +317.49sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67f495ca75, in +317.49sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f67f4e2b8f5, in spdlog::details::registry::~registry() +317.49sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6cdd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +317.49sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6d4315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +317.49sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6d35a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +317.49sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6cfb7b, in spdlog_ros::RosSink::~RosSink() +317.49sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555e5c6cdd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +317.49sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f54e1454, in rclcpp::Node::~Node() +317.49sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f549c515, in +317.49sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f54dfd20, in +317.49sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f54dfc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +317.49sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f549c5d9, in +317.49sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67f54a1161, in rclcpp::CallbackGroup::~CallbackGroup() +317.50sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f67c0401090]) +317.50sERRORodom_qos_relay.pyTraceback (most recent call last): +317.50sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +317.50sINFOodom_qos_relay.pymain() +317.50sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +317.50sINFOodom_qos_relay.pyrclpy.spin(node) +317.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +317.50sINFOodom_qos_relay.pyexecutor.spin_once() +317.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +317.50sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +317.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +317.50sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +317.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +317.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +317.50sINFOodom_qos_relay.pyreturn next(self._cb_iter) +317.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +317.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +317.50sINFOodom_qos_relay.pyraise ExternalShutdownException() +317.50sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +317.50sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +317.50sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +317.50sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +317.50sERRORodom_world_drift.pyTraceback (most recent call last): +317.50sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 142, in <module> +317.50sINFOodom_world_drift.pymain() +317.50sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 133, in main +317.50sINFOodom_world_drift.pyrclpy.spin(node) +317.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +317.50sINFOodom_world_drift.pyexecutor.spin_once() +317.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +317.50sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +317.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +317.50sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +317.50sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +317.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +317.50sINFOodom_world_drift.pyreturn next(self._cb_iter) +317.50sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +317.51sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +317.51sINFOodom_world_drift.pyraise ExternalShutdownException() +317.51sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +317.51sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +317.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +317.51sINFOros2_control_nodeAsync messages lost 0[0m ×2 +317.51sINFOros2_control_nodepublish_async_failures_ 2[0m +317.51sINFOros2_control_nodepublish_async_failures_ 0[0m +318.19sINFOcomponent_container_mt-29process has finished cleanly [pid 9540] +318.20sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9536] +318.24sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9535] +318.30sINFOparameter_manager_node-23process has finished cleanly [pid 9514] +318.31sINFOwaypoint_manager_node-24process has finished cleanly [pid 9534] +318.34sINFOcomponent_container_mt-28process has finished cleanly [pid 9539] +318.38sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9414] +318.40sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9413] +318.42sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9415] +318.46sINFOslip_aware_odom-4process has finished cleanly [pid 9410] +318.48sERRORodom_qos_relay.py-6process has died [pid 9412, 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']. +318.49sINFOstatic_transform_publisher-2process has finished cleanly [pid 9408] +319.44sINFOamcl_odom_gate-5process has finished cleanly [pid 9411] +319.52sERRORodom_world_drift.py-3process has died [pid 9409, 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_ngtjh0zl']. +319.70sINFOweb_bridge-32process has finished cleanly [pid 9543] +319.70sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +320.05sINFOros2_control_node-10process has finished cleanly [pid 9495] +321.88sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +321.89sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +321.90sERRORcomponent_container_isolated-1process has died [pid 9407, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_49y5gb8w --params-file /tmp/launch_params_ej_2sqy7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +328.85sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-25-18-08-50-330836-447f358164c4-13531 ×2 +337.65sINFOstatic_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' +337.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +337.76sINFOstate_estimatorReceived a set_pose request (stamp: 1785002941721760457, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +337.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +337.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +337.81sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +337.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +337.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +337.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +337.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +337.86sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +337.88sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +337.88sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +337.89sINFOcontroller_managerupdate rate is 600 Hz +337.89sINFOcontroller_managerOverruns handling is : enabled +337.89sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +337.90sWARNcontroller_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. +337.91sINFOros2_control_node-10process started with pid [13659] ×2 +337.91sINFOmove_group-22process started with pid [13680] ×2 +337.91sINFOparameter_manager_node-23process started with pid [13681] ×2 +337.91sINFOwaypoint_manager_node-24process started with pid [13701] ×2 +337.91sINFOmove_joint_resampler_node-25process started with pid [13702] ×2 +337.91sINFOmove_end_effector_resampler_node-26process started with pid [13703] ×2 +337.91sINFOobjective_server_node_main-27process started with pid [13704] ×2 +337.91sINFOcomponent_container_mt-28process started with pid [13707] ×2 +337.91sINFOcomponent_container_mt-29process started with pid [13708] ×2 +337.91sINFOexecute_objective_bridge-30process started with pid [13710] ×2 +337.91sINFOui_teleop_bridge-31process started with pid [13711] ×2 +337.92sINFOweb_bridge-32process started with pid [13712] ×2 +337.92sINFOtf2_web_republisher_node-33process started with pid [13713] ×2 +337.92sINFOweb_video_server-34process started with pid [13714] ×2 +337.92sINFOweb_bridge_auth_proxy-35process started with pid [13737] ×2 +337.92sINFOweb_video_auth_proxy-36process started with pid [13740] ×2 +337.92sINFOcomponent_container_isolated-1process started with pid [13581] ×2 +337.92sINFOstatic_transform_publisher-2process started with pid [13582] ×2 +337.92sINFOodom_world_drift.py-3process started with pid [13583] ×2 +337.92sINFOslip_aware_odom-4process started with pid [13584] ×2 +337.92sINFOamcl_odom_gate-5process started with pid [13585] ×2 +337.92sINFOodom_qos_relay.py-6process started with pid [13586] ×2 +337.92sINFOscan_to_scan_filter_chain-7process started with pid [13587] ×2 +337.92sINFOscan_to_scan_filter_chain-8process started with pid [13588] ×2 +337.92sINFOfixed_lag_smoother_node-9process started with pid [13589] ×2 +337.92sINFOros2-11process started with pid [13662] ×2 +337.92sINFOros2-12process started with pid [13669] ×2 +337.92sINFOros2-13process started with pid [13671] ×2 +337.92sINFOros2-14process started with pid [13672] ×2 +337.92sINFOros2-15process started with pid [13673] ×2 +337.92sINFOros2-16process started with pid [13674] ×2 +337.92sINFOros2-17process started with pid [13675] ×2 +337.92sINFOros2-18process started with pid [13676] ×2 +337.92sINFOros2-19process started with pid [13677] ×2 +337.92sINFOros2-20process started with pid [13678] ×2 +337.92sINFOros2-21process started with pid [13679] ×2 +337.98sINFOcontroller_serverCreating controller server +338.06sINFOlocal_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. +338.06sINFOlocal_costmap.local_costmapCreating Costmap +338.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +338.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2). +338.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2).[0m ×2 +338.10sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +338.12sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +338.13sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +338.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +338.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +338.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +338.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +338.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +338.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +338.21sINFOmap_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. +338.21sINFOmap_serverCreating +338.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +338.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +338.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +338.24sINFOcontroller_managerReceived robot description from topic. +338.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +338.24sINFOrobot_state_publisherRobot initialized +338.26sINFOsmoother_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. +338.28sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +338.29sINFOsmoother_serverCreating smoother server +338.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +338.29sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +338.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +338.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +338.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +338.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +338.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +338.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +338.36sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +338.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +338.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +338.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +338.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +338.40sINFOplanner_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. +338.43sINFOplanner_serverCreating +338.47sINFOglobal_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. +338.48sINFOglobal_costmap.global_costmapCreating Costmap +338.50sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.329109 seconds +338.50sINFOmove_groupLoaded robot model in 0.329109 seconds[0m ×2 +338.50sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +338.50sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +338.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +338.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +338.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +338.54sINFOlifecycle_manager_localizationCreating +338.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +338.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +338.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +338.57sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +338.59sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +338.59sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +338.59sINFOmap_serverConfiguring +338.60sINFObehavior_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. +338.65sWARNlaser_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. +338.65sWARNlaser_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. +338.65sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +338.65sINFOamclConfiguring +338.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +338.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +338.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +338.68sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +338.68sINFOmap_serverActivating +338.68sINFOmap_serverCreating bond (map_server) to lifecycle manager. +338.70sINFObt_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. +338.73sINFObt_navigatorCreating +338.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +338.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +338.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +338.77sINFOwaypoint_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. +338.77sINFOwaypoint_followerCreating +338.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +338.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +338.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +338.79sINFOlifecycle_manager_localizationServer map_server connected with bond. +338.79sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +338.79sINFOamclActivating +338.79sINFOamclSubscribed to initial_pose_topic: /initialpose +338.79sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +338.82sINFOamclSubscribed to map_topic: /map +338.82sINFOamclSubscribed to scan_topic: /scan_merged +338.82sINFOamclCreated reinitialize_global_localization service +338.83sINFOamclCreated request_nomotion_update service +338.83sINFOamclA new map was received +338.84sINFOamclInitializing particle filter instance +338.85sINFOvelocity_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. +338.90sINFOlifecycle_manager_navigationCreating +338.90sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +338.94sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +338.94sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +338.94sINFOcontroller_serverConfiguring controller interface +338.94sINFOcontroller_servergetting progress checker plugins.. +338.94sINFOcontroller_servergetting goal checker plugins.. +338.94sINFOcontroller_serverController frequency set to 20.0000Hz +338.94sINFOlocal_costmap.local_costmapConfiguring +338.95sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +338.97sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +339.00sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +339.00sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +339.00sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +339.01sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +339.02sWARNmove_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. +339.02sWARNmove_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. +339.02sWARNmove_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. +339.03sWARNmove_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. +339.03sWARNmove_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. +339.03sWARNmove_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. +339.04sWARNmove_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. +339.04sWARNmove_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. +339.04sWARNmove_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. +339.04sWARNmove_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. +339.05sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +339.05sINFOcontroller_serverController Server has progress_checker progress checkers available. +339.06sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +339.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +339.07sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +339.12sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +339.13sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +339.13sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +339.15sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +339.15sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +339.15sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +339.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +339.16sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +339.16sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +339.16sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +339.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +339.17sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +339.17sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +339.17sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +339.17sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +339.17sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +339.18sINFOcontroller_serverOptimizer reset +339.20sINFOcontroller_serverController Server has FollowPath controllers available. +339.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120444 ms (missed cycles : 2). +339.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120444 ms (missed cycles : 2).[0m ×2 +339.22sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +339.22sINFOsmoother_serverConfiguring smoother server +339.23sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +339.25sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +339.26sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +339.26sINFOplanner_serverConfiguring +339.26sINFOglobal_costmap.global_costmapConfiguring +339.27sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +339.27sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +339.27sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +339.27sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +339.27sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +339.29sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +339.29sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +339.30sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +339.35sFATALplanner_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 +339.35sINFOplanner_serverCleaning up +339.35sINFOglobal_costmap.global_costmapCleaning up +339.36sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +339.40sINFOamclParticle filter initialization completed +339.40sINFOamclInitializing particles from estimated pose and covariance +339.40sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +339.44sINFOmove_group[2026-07-25 18:09:03.398] [moveit_pro_license] [info] ×2 +339.45sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +339.45sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +339.50sINFOlifecycle_manager_localizationServer amcl connected with bond. +339.50sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +339.50sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +339.51sINFOamclThe bond connection to the lifecycle manager is now fully formed +339.65sINFOwaypoint_manager_nodeLoaded robot model in 0.360646 seconds[0m ×2 +339.76sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +339.79sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +339.79sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +339.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +339.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +339.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +339.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +339.90sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +339.90sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +339.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +339.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +339.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +339.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +339.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +339.93sWARNwaypoint_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. +339.93sWARNwaypoint_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. +339.93sWARNwaypoint_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. +339.94sWARNwaypoint_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. +339.94sWARNwaypoint_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. +339.95sWARNwaypoint_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. +339.95sWARNwaypoint_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. +339.95sWARNwaypoint_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. +339.95sWARNwaypoint_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. +339.95sWARNwaypoint_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. +339.96sWARNwaypoint_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. +339.96sWARNwaypoint_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. +339.96sWARNwaypoint_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. +339.96sWARNwaypoint_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. +339.97sWARNwaypoint_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. +339.97sWARNwaypoint_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. +339.97sWARNwaypoint_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. +339.98sWARNwaypoint_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. +339.98sWARNwaypoint_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. +339.98sWARNwaypoint_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. +339.98sWARNwaypoint_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. +339.98sWARNwaypoint_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. +339.99sWARNwaypoint_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. +339.99sWARNwaypoint_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. +339.99sWARNwaypoint_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. +340.00sWARNwaypoint_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. +340.00sWARNwaypoint_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. +340.00sWARNwaypoint_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. +340.29sINFOwaypoint_manager_node[2026-07-25 18:09:04.250] [moveit_pro_license] [info] ×2 +340.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +340.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. +340.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +340.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +340.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +340.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +340.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +340.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +340.66sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +340.66sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +340.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +340.70sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +340.71sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +340.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +340.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +340.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +340.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +340.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +340.73sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +340.73sINFOstreaming_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) +340.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +340.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +340.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +340.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +340.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +340.88sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +340.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184416 ms (missed cycles : 2). +340.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184416 ms (missed cycles : 2).[0m ×2 +340.90sINFOstreaming_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) +341.18sINFOros2_control_node[2026-07-25 18:09:05.145] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +341.19sINFOros2_control_node[2026-07-25 18:09:05.149] [info] Controller state will be published at 10 Hz. ×2 +341.19sINFOros2_control_node[2026-07-25 18:09:05.150] [info] VelocityForceController 'on_configure' succeeded. ×2 +341.23sINFOobjective_server_node[2026-07-25 18:09:05.195] [moveit_pro_license] [info] ×2 +341.27sINFOmove_groupMoveGroup debug mode is ON +341.30sINFOcomponent_container_mtLoaded robot model in 0.416484 seconds[0m ×2 +341.30sINFOobjective_server_nodeLoaded robot model in 0.0243047 seconds[0m ×2 +341.40sINFOmove_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
********************************************************
+341.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +341.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +341.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +341.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +341.61sINFOros2-19process has finished cleanly [pid 13677] ×2 +341.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +341.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +341.63sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +341.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +341.63sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +341.63sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +341.63sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +341.63sWARNplanning_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. +341.63sWARNplanning_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. +341.63sWARNobjective_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. +341.63sWARNobjective_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. +341.64sWARNplanning_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. +341.64sWARNplanning_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. +341.64sWARNobjective_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. +341.64sWARNobjective_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. +341.64sWARNplanning_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. +341.64sWARNplanning_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. +341.64sWARNobjective_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. +341.64sWARNobjective_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. +341.64sWARNobjective_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. +341.64sWARNplanning_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. +341.64sWARNplanning_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. +341.64sWARNobjective_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. +341.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +341.64sWARNplanning_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. +341.64sWARNplanning_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. +341.64sWARNobjective_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. +341.64sWARNobjective_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. +341.64sWARNplanning_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. +341.64sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.65sWARNplanning_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. +341.66sWARNplanning_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. +341.66sWARNplanning_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. +341.66sWARNplanning_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. +341.66sWARNplanning_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. +341.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +341.82sINFOcomponent_container_mt[2026-07-25 18:09:05.784] [moveit_pro_license] [info] ×2 +341.87sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785002944.709 for reason 'discarding message because the queue is full' +341.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520294 ms (missed cycles : 3). +341.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520294 ms (missed cycles : 3).[0m ×2 +341.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +341.96sINFOcontroller_managerLoading controller 'velocity_force_controller' +341.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +341.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +342.01sINFOros2-17process has finished cleanly [pid 13675] ×2 +342.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +342.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +342.29sINFOros2_control_node[2026-07-25 18:09:06.250] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +342.29sINFOros2_control_node[2026-07-25 18:09:06.253] [info] Controller state will be published at 10 Hz. ×2 +342.29sINFOros2_control_node[2026-07-25 18:09:06.254] [info] VelocityForceController 'on_configure' succeeded. ×2 +342.66sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +342.67sINFOros2-18process has finished cleanly [pid 13676] ×2 +342.91sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +342.91sINFOcontroller_managerLoading controller 'vacuum_gripper' +342.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +342.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +342.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985135 ms (missed cycles : 5). +342.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985135 ms (missed cycles : 5).[0m ×2 +342.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +342.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +342.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +342.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +342.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +342.95sINFOcontroller_managerSuccessfully switched controllers! ×8 +342.96sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +343.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +343.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +343.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +343.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +343.30sINFOros2-15process has finished cleanly [pid 13673] ×2 +343.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +343.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +343.34sINFOplatform_velocity_controller_nav2configure successful +343.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +343.77sINFOcontroller_managerLoading controller 'platform_velocity_controller' +343.78sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +343.78sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +343.80sINFOros2-16process has finished cleanly [pid 13674] ×2 +343.83sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +343.83sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +343.84sINFOplatform_velocity_controllerconfigure successful +343.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +343.85sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +344.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690894 ms (missed cycles : 3). +344.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690894 ms (missed cycles : 3).[0m ×2 +344.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +344.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +344.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +344.17sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +344.20sINFOros2-14process has finished cleanly [pid 13672] ×2 +344.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +344.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +344.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +344.23sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +344.23sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +344.25sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +344.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +344.47sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785002947.309 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +344.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.430ms +344.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +344.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +344.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +344.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +344.60sINFOros2-13process has finished cleanly [pid 13671] ×2 +344.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +344.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +344.62sINFOforce_torque_sensor_broadcasterconfigure successful +344.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +344.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +345.01sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +345.01sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +345.01sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +345.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +345.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392726 ms (missed cycles : 3). +345.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392726 ms (missed cycles : 3).[0m ×2 +345.04sINFOros2-11process has finished cleanly [pid 13662] ×2 +345.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +345.09sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +345.09sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +345.10sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +345.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +345.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' +345.44sINFOros2-12process has finished cleanly [pid 13669] ×2 +345.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +345.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +345.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +345.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +345.81sINFOros2_control_node[2026-07-25 18:09:09.772] [info] Controller state will be published at 20 Hz. ×2 +345.81sINFOros2_control_node[2026-07-25 18:09:09.775] [info] JointVelocityController 'on_configure' succeeded. ×2 +346.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375799 ms (missed cycles : 5). +346.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375799 ms (missed cycles : 5).[0m ×2 +346.19sINFOros2-20process has finished cleanly [pid 13678] ×2 +346.19sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +346.20sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +346.20sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +346.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu +346.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jjqnz5wv --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_gacud1wb --params-file /tmp/launch_params_0gh64vuu [0m ×2 +346.23sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +346.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +346.50sINFOros2_control_node[2026-07-25 18:09:10.464] [info] Controller state will be published at 20 Hz. ×2 +346.50sINFOros2_control_node[2026-07-25 18:09:10.466] [info] JointVelocityController 'on_configure' succeeded. ×2 +346.86sINFOros2-21process has finished cleanly [pid 13679] ×2 +347.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604937 ms (missed cycles : 4). +347.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604937 ms (missed cycles : 4).[0m ×2 +348.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). +348.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 +349.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). +349.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 +350.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). +350.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 +350.67sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +351.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). +351.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 +351.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 +351.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +351.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +351.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 +352.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 +352.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 +352.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). +352.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 +352.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 +352.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 +353.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). +353.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 +353.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 +353.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +353.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +353.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +353.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +353.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +353.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +353.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 +354.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 +354.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +354.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +354.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +354.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). +354.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 5.76sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.22sINFOjoint_trajectory_controllerReceived new action goal + 7.22sINFOjoint_trajectory_controllerAccepted new action goal + 7.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158212 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 2.46sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 6.81sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 5.76sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559139 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878474 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395359 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785002955.63651562 seconds. ×3 + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.32sINFOmove_groupClearing octomap...[0m ×2 + 1.32sINFOmove_groupOctomap cleared.[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785002955.64705062 seconds ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785002956.20076323 seconds. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785002956.21092153 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135264 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785002956.75508404 seconds. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785002956.90577793 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899374 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785002957.47546077 seconds. ×3 + 3.18sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785002957.53561068 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785002958.07735395 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226594 ms (missed cycles : 3).[0m ×2 + 4.66sWARNstate_estimatorOptimization exceeded the configured duration by 36938166ns + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552688 ms (missed cycles : 3).[0m ×2 | ||||