69
Total objective tests
16
Objectives passed
2
Objectives failed
51
Objectives skipped
18.9s
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 | 31.8s | 6 errors · 168 warnings · 195 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.181ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.089ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 2.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3).[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.98sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659492.67163706 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659493.23384500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 6.17sWARNstate_estimatorOptimization exceeded the configured duration by 7270926ns + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949221 ms (missed cycles : 4). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949221 ms (missed cycles : 4).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.707ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 7.60sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.728ms + 7.80sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.727ms + 8.00sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.639ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686473 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686473 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.708ms + 8.40sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.460ms + 8.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.8 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.8 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.356ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896326 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896326 ms (missed cycles : 2).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796195 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796195 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 10.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.0 s (AMCL untrusted, spread=0.57); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.0 s (AMCL untrusted, spread=0.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.422ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641379 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641379 ms (missed cycles : 3).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.514ms + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.541ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.548ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426311 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426311 ms (missed cycles : 2).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.202ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms ×2 + 12.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.477ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139916 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139916 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.312ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.358ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109584 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109584 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.825ms + 14.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.193ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.839ms + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450511 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450511 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.435ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.073ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724925 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724925 ms (missed cycles : 3).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.234ms + 16.87sWARNstate_estimatorOptimization exceeded the configured duration by 11124893ns + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms ×2 + 17.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511223 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511223 ms (missed cycles : 3).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.206ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978510 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978510 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.728ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 19.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.577ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069394 ms (missed cycles : 3). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069394 ms (missed cycles : 3).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.299ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.713ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.682ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341881 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341881 ms (missed cycles : 3).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.505ms + 21.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.4 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.4 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.046ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.089ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.496ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104643 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104643 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.701ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.053ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.263ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655700 ms (missed cycles : 4). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655700 ms (missed cycles : 4).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.880ms + 23.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.804ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.853ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841184 ms (missed cycles : 5). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841184 ms (missed cycles : 5).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.495ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.750ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.185ms + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755418 ms (missed cycles : 4). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755418 ms (missed cycles : 4).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.899ms + 25.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.6 s (AMCL untrusted, spread=1.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.6 s (AMCL untrusted, spread=1.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.932ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.276ms + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186218 ms (missed cycles : 3). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186218 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 5.174ms + 26.40sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 4.571ms + 26.70sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.636ms + 27.00sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.940ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184228 ms (missed cycles : 2). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184228 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 4.869ms + 27.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.6 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.6 s (AMCL untrusted, spread=1.81); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.904ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.485ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.551ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091727 ms (missed cycles : 4). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091727 ms (missed cycles : 4).[0m ×2 + 28.36sWARNstate_estimatorOptimization exceeded the configured duration by 2443310ns + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.649ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.660ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.312ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.842ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.162721 ms (missed cycles : 6). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.162721 ms (missed cycles : 6).[0m ×2 + 29.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.6 s (AMCL untrusted, spread=1.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.6 s (AMCL untrusted, spread=1.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.376ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.099ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.608ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353762 ms (missed cycles : 4). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353762 ms (missed cycles : 4).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.162ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.891ms + 31.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 80.6 s (AMCL untrusted, spread=0.77); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 80.6 s (AMCL untrusted, spread=0.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412821 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412821 ms (missed cycles : 4).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.811ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225891 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225891 ms (missed cycles : 3).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.783ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 33.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 82.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 82.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462817 ms (missed cycles : 5). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462817 ms (missed cycles : 5).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648700 ms (missed cycles : 3). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648700 ms (missed cycles : 3).[0m ×2 + 35.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.525ms + 35.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716721 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716721 ms (missed cycles : 3).[0m ×2 + 35.87sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 35.88sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 35.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786659524.52406740 seconds ×3 + 36.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 36.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786659525.20078421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864968 ms (missed cycles : 3). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864968 ms (missed cycles : 3).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 36.98sINFOobjective_server_nodeFound path in 0 iterations (1.047e-06 s). ×2 + 37.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727695 ms (missed cycles : 2). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727695 ms (missed cycles : 2).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 37.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.91sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.508ms + 38.30sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.667ms + 38.48sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.712ms + 38.70sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.605ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.7s | 9 errors · 165 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.109ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039465 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039465 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.177ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503935 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503935 ms (missed cycles : 2).[0m ×2 + 1.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310486 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310486 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.139ms + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121726 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121726 ms (missed cycles : 3).[0m ×2 + 3.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 3.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 4.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786659535.65083551 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128919 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128919 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786659536.20735908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (6.65e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.959ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477310 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477310 ms (missed cycles : 3).[0m ×2 + 5.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.541ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.002ms ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017778 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017778 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.126ms + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.020ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 7.27sWARNstate_estimatorOptimization exceeded the configured duration by 4520195ns + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.671ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507321 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507321 ms (missed cycles : 4).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 7.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.907ms + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212691 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212691 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.163ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333657 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333657 ms (missed cycles : 3).[0m ×2 + 9.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.0 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.0 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080878 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080878 ms (missed cycles : 3).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 11.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723993 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723993 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534558 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534558 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.587ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms ×3 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms ×3 + 13.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.0 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.0 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017676 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017676 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.326ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112864 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112864 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.794ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 15.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354521 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354521 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720745 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720745 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 17.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.138ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421385 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421385 ms (missed cycles : 3).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 18.67sWARNstate_estimatorOptimization exceeded the configured duration by 5738948ns + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.070ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.292ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183351 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183351 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 20.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.760ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183350 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183350 ms (missed cycles : 2).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.979ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.305ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424236 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424236 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 22.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125140 ms (missed cycles : 3). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125140 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317477 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317477 ms (missed cycles : 3).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.438ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 24.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036636 ms (missed cycles : 2). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036636 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.995ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.214ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.205ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863067 ms (missed cycles : 4). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863067 ms (missed cycles : 4).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.450ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.003ms + 26.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248044 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248044 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538705 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538705 ms (missed cycles : 4).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 28.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081623 ms (missed cycles : 4). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081623 ms (missed cycles : 4).[0m ×2 + 28.96sWARNstate_estimatorOptimization exceeded the configured duration by 1046525ns + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.983ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873688 ms (missed cycles : 2). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873688 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 30.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.212ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968036 ms (missed cycles : 2). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968036 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.522ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653702 ms (missed cycles : 4). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653702 ms (missed cycles : 4).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 32.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.795ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739200 ms (missed cycles : 4). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739200 ms (missed cycles : 4).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 34.25sINFOjoint_trajectory_controllerGoal reached, success! + 34.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390193 ms (missed cycles : 4). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390193 ms (missed cycles : 4).[0m ×2 + 34.71sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.72sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786659566.35994124 seconds ×3 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.521ms + 34.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 35.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 35.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 35.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 36.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 37.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 213 warnings · 251 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.76sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.76sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.76sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786659398.08762121 seconds ×3 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786659398.65027976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313596 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313596 ms (missed cycles : 2).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235199 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235199 ms (missed cycles : 2).[0m ×2 + 8.69sWARNstate_estimatorOptimization exceeded the configured duration by 13065927ns + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.935ms + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297058 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297058 ms (missed cycles : 3).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms ×2 + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.077ms + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.128ms + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.017ms + 10.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516626 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516626 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 11.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.500ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990095 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990095 ms (missed cycles : 3).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 12.31sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.044ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833658 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833658 ms (missed cycles : 3).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526755 ms (missed cycles : 3). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526755 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 14.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758296 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758296 ms (missed cycles : 5).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.416ms + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.793ms + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746262 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746262 ms (missed cycles : 3).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722927 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722927 ms (missed cycles : 4).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537513 ms (missed cycles : 3). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537513 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 18.99sWARNstate_estimatorOptimization exceeded the configured duration by 8022081ns + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142765 ms (missed cycles : 3). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142765 ms (missed cycles : 3).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.800ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.688ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943601 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943601 ms (missed cycles : 3).[0m ×2 + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.555ms + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.304ms + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258681 ms (missed cycles : 4). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258681 ms (missed cycles : 4).[0m ×2 + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628714 ms (missed cycles : 4). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628714 ms (missed cycles : 4).[0m ×2 + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.345ms + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588825 ms (missed cycles : 4). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588825 ms (missed cycles : 4).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms ×3 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784004 ms (missed cycles : 3). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784004 ms (missed cycles : 3).[0m ×2 + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.087ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.471ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703185 ms (missed cycles : 4). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703185 ms (missed cycles : 4).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.859ms + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.609ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177505 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177505 ms (missed cycles : 2).[0m ×2 + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.006ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405294 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405294 ms (missed cycles : 3).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981095 ms (missed cycles : 3). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981095 ms (missed cycles : 3).[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.988ms + 28.99sWARNstate_estimatorOptimization exceeded the configured duration by 11179468ns + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.488ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612714 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612714 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.641ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.396ms + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.355ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858911 ms (missed cycles : 3). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858911 ms (missed cycles : 3).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.096ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.460ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039536 ms (missed cycles : 4). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039536 ms (missed cycles : 4).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.328ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.524ms + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936523 ms (missed cycles : 4). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936523 ms (missed cycles : 4).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.214ms + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.281ms + 33.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.541ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304781 ms (missed cycles : 5). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304781 ms (missed cycles : 5).[0m ×2 + 34.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 34.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137309 ms (missed cycles : 2). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137309 ms (missed cycles : 2).[0m ×2 + 35.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.906ms + 35.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382186 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382186 ms (missed cycles : 3).[0m ×2 + 36.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.042ms + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738096 ms (missed cycles : 3). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738096 ms (missed cycles : 3).[0m ×2 + 37.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113008 ms (missed cycles : 3). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113008 ms (missed cycles : 3).[0m ×2 + 39.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685381 ms (missed cycles : 3). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685381 ms (missed cycles : 3).[0m ×2 + 39.89sWARNstate_estimatorOptimization exceeded the configured duration by 9508439ns + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960114 ms (missed cycles : 4). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960114 ms (missed cycles : 4).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729459 ms (missed cycles : 5). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729459 ms (missed cycles : 5).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131176 ms (missed cycles : 5). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131176 ms (missed cycles : 5).[0m ×2 + 43.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.477ms + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002672 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002672 ms (missed cycles : 2).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733958 ms (missed cycles : 2). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733958 ms (missed cycles : 2).[0m ×2 + 45.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.522ms + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796341 ms (missed cycles : 2). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796341 ms (missed cycles : 2).[0m ×2 + 45.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.312ms + 46.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.429ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444606 ms (missed cycles : 3). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444606 ms (missed cycles : 3).[0m ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823983 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823983 ms (missed cycles : 2).[0m ×2 + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.701ms + 48.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.836ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168082 ms (missed cycles : 3). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168082 ms (missed cycles : 3).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172538 ms (missed cycles : 4). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172538 ms (missed cycles : 4).[0m ×2 + 49.94sWARNstate_estimatorOptimization exceeded the configured duration by 56787271ns + 50.12sWARNamcl_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. + 50.12sWARNamcl_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 ×2 + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289817 ms (missed cycles : 2). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289817 ms (missed cycles : 2).[0m ×2 + 51.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754310 ms (missed cycles : 3). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754310 ms (missed cycles : 3).[0m ×2 + 52.12sWARNamcl_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. + 52.12sWARNamcl_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 ×2 + 52.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.326ms + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881498 ms (missed cycles : 4). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881498 ms (missed cycles : 4).[0m ×2 + 53.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936273 ms (missed cycles : 3). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936273 ms (missed cycles : 3).[0m ×2 + 54.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171686 ms (missed cycles : 3). + 55.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171686 ms (missed cycles : 3).[0m ×2 + 55.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 56.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.337ms + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930365 ms (missed cycles : 4). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930365 ms (missed cycles : 4).[0m ×2 + 56.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.506ms + 57.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510307 ms (missed cycles : 3). + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510307 ms (missed cycles : 3).[0m ×2 + 57.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 58.52sWARNamcl_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. + 58.52sWARNamcl_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 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 59.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 59.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 60.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 60.30sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 60.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 60.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 60.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 60.72sWARNamcl_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. + 60.72sWARNamcl_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 + 61.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 61.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 61.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 61.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 61.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 62.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 62.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 62.24sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 62.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 62.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 62.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 62.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 62.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 62.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 63.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 64.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 379 warnings · 232 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.52sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.52sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644693 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644693 ms (missed cycles : 3).[0m ×2 + 8.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.41); 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 4.067276 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067276 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533830 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533830 ms (missed cycles : 3).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 10.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.8 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.8 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949432 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949432 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060127 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060127 ms (missed cycles : 3).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.356ms + 12.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612144 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612144 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940647 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940647 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 14.19sWARNstate_estimatorOptimization exceeded the configured duration by 30527347ns + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 14.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733677 ms (missed cycles : 4). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733677 ms (missed cycles : 4).[0m ×2 + 15.38sWARNglobal_costmap.global_costmapSensor origin at (-9.93, 58.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405101 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405101 ms (missed cycles : 3).[0m ×2 + 16.38sWARNglobal_costmap.global_costmapSensor origin at (-9.11, 59.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.38sWARNglobal_costmap.global_costmapSensor origin at (-10.00, 59.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.305ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 16.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203867 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203867 ms (missed cycles : 4).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 17.38sWARNglobal_costmap.global_costmapSensor origin at (-9.19, 59.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.38sWARNglobal_costmap.global_costmapSensor origin at (-10.08, 59.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739915 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739915 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 18.38sWARNglobal_costmap.global_costmapSensor origin at (-9.25, 60.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.38sWARNglobal_costmap.global_costmapSensor origin at (-10.14, 60.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 19.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212673 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212673 ms (missed cycles : 3).[0m ×2 + 19.38sWARNglobal_costmap.global_costmapSensor origin at (-9.33, 60.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.38sWARNglobal_costmap.global_costmapSensor origin at (-10.22, 60.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 19.61sINFOros2_control_nodeMuJoCo sim: 1.88% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 20.38sWARNglobal_costmap.global_costmapSensor origin at (-9.40, 61.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.38sWARNglobal_costmap.global_costmapSensor origin at (-10.29, 61.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583979 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583979 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 21.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 21.38sWARNglobal_costmap.global_costmapSensor origin at (-9.47, 61.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.38sWARNglobal_costmap.global_costmapSensor origin at (-10.36, 61.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039596 ms (missed cycles : 3). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039596 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 22.38sWARNglobal_costmap.global_costmapSensor origin at (-9.54, 62.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.38sWARNglobal_costmap.global_costmapSensor origin at (-10.44, 62.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421433 ms (missed cycles : 3). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421433 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 23.38sWARNglobal_costmap.global_costmapSensor origin at (-9.61, 62.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.38sWARNglobal_costmap.global_costmapSensor origin at (-10.50, 62.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 23.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322515 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322515 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 24.38sWARNglobal_costmap.global_costmapSensor origin at (-9.68, 63.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.38sWARNglobal_costmap.global_costmapSensor origin at (-10.57, 63.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797013 ms (missed cycles : 3). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797013 ms (missed cycles : 3).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 25.38sWARNglobal_costmap.global_costmapSensor origin at (-9.76, 63.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.38sWARNglobal_costmap.global_costmapSensor origin at (-10.65, 63.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.2 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.2 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277505 ms (missed cycles : 4). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277505 ms (missed cycles : 4).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.951ms + 25.97sWARNstate_estimatorOptimization exceeded the configured duration by 10304215ns + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 26.38sWARNglobal_costmap.global_costmapSensor origin at (-9.83, 64.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.38sWARNglobal_costmap.global_costmapSensor origin at (-10.72, 64.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.325ms + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916819 ms (missed cycles : 4). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916819 ms (missed cycles : 4).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 27.38sWARNglobal_costmap.global_costmapSensor origin at (-9.91, 64.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.38sWARNglobal_costmap.global_costmapSensor origin at (-10.81, 64.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.283ms + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574588 ms (missed cycles : 3). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574588 ms (missed cycles : 3).[0m ×2 + 27.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.4 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.4 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.007ms + 28.38sWARNglobal_costmap.global_costmapSensor origin at (-9.96, 64.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.38sWARNglobal_costmap.global_costmapSensor origin at (-10.86, 65.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.146ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262283 ms (missed cycles : 4). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262283 ms (missed cycles : 4).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 29.38sWARNglobal_costmap.global_costmapSensor origin at (-10.04, 65.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.38sWARNglobal_costmap.global_costmapSensor origin at (-10.93, 65.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952257 ms (missed cycles : 3). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952257 ms (missed cycles : 3).[0m ×2 + 30.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 30.38sWARNglobal_costmap.global_costmapSensor origin at (-10.11, 66.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.38sWARNglobal_costmap.global_costmapSensor origin at (-11.01, 66.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715310 ms (missed cycles : 5). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715310 ms (missed cycles : 5).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 31.38sWARNglobal_costmap.global_costmapSensor origin at (-10.19, 66.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.38sWARNglobal_costmap.global_costmapSensor origin at (-11.09, 66.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 32.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 159.6 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 159.6 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122697 ms (missed cycles : 4). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122697 ms (missed cycles : 4).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 32.38sWARNglobal_costmap.global_costmapSensor origin at (-10.27, 67.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.38sWARNglobal_costmap.global_costmapSensor origin at (-11.16, 67.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.903ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178783 ms (missed cycles : 4). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178783 ms (missed cycles : 4).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.970ms + 33.38sWARNglobal_costmap.global_costmapSensor origin at (-10.33, 67.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.38sWARNglobal_costmap.global_costmapSensor origin at (-11.22, 67.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 33.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175816 ms (missed cycles : 3). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175816 ms (missed cycles : 3).[0m ×2 + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 34.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 161.8 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 161.8 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.38sWARNglobal_costmap.global_costmapSensor origin at (-10.40, 67.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.38sWARNglobal_costmap.global_costmapSensor origin at (-11.28, 68.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.504ms + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168973 ms (missed cycles : 4). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168973 ms (missed cycles : 4).[0m ×2 + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.197ms + 35.38sWARNglobal_costmap.global_costmapSensor origin at (-10.43, 68.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.38sWARNglobal_costmap.global_costmapSensor origin at (-11.32, 68.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.12sWARNstate_estimatorOptimization exceeded the configured duration by 159641663ns + 36.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 163.8 s (AMCL untrusted, spread=0.51); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 163.8 s (AMCL untrusted, spread=0.51); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271268 ms (missed cycles : 5). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271268 ms (missed cycles : 5).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 36.38sWARNglobal_costmap.global_costmapSensor origin at (-10.44, 68.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.38sWARNglobal_costmap.global_costmapSensor origin at (-11.34, 68.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234378 ms (missed cycles : 2). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234378 ms (missed cycles : 2).[0m ×2 + 37.38sWARNglobal_costmap.global_costmapSensor origin at (-10.53, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.38sWARNglobal_costmap.global_costmapSensor origin at (-11.43, 68.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.551ms + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3).[0m ×2 + 38.38sWARNglobal_costmap.global_costmapSensor origin at (-10.60, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.38sWARNglobal_costmap.global_costmapSensor origin at (-11.49, 68.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427808 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427808 ms (missed cycles : 2).[0m ×2 + 39.38sWARNglobal_costmap.global_costmapSensor origin at (-10.46, 68.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.38sWARNglobal_costmap.global_costmapSensor origin at (-11.36, 68.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms ×2 + 40.38sWARNglobal_costmap.global_costmapSensor origin at (-10.31, 68.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.38sWARNglobal_costmap.global_costmapSensor origin at (-11.20, 68.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857746 ms (missed cycles : 2). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857746 ms (missed cycles : 2).[0m ×2 + 40.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.38sWARNglobal_costmap.global_costmapSensor origin at (-10.26, 68.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.38sWARNglobal_costmap.global_costmapSensor origin at (-11.15, 68.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615290 ms (missed cycles : 3). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615290 ms (missed cycles : 3).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.742ms + 42.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.324ms + 42.38sWARNglobal_costmap.global_costmapSensor origin at (-10.20, 68.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.38sWARNglobal_costmap.global_costmapSensor origin at (-11.10, 68.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370828 ms (missed cycles : 3). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370828 ms (missed cycles : 3).[0m ×2 + 42.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 42.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.38sWARNglobal_costmap.global_costmapSensor origin at (-10.17, 68.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.38sWARNglobal_costmap.global_costmapSensor origin at (-11.07, 68.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249188 ms (missed cycles : 3). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249188 ms (missed cycles : 3).[0m ×2 + 44.38sWARNglobal_costmap.global_costmapSensor origin at (-10.14, 68.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.38sWARNglobal_costmap.global_costmapSensor origin at (-11.03, 68.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227127 ms (missed cycles : 4). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227127 ms (missed cycles : 4).[0m ×2 + 44.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 44.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.072ms + 45.38sWARNglobal_costmap.global_costmapSensor origin at (-10.16, 68.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.38sWARNglobal_costmap.global_costmapSensor origin at (-11.05, 68.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308672 ms (missed cycles : 3). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308672 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.547ms + 46.17sWARNstate_estimatorOptimization exceeded the configured duration by 5674877ns + 46.38sWARNglobal_costmap.global_costmapSensor origin at (-10.20, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.38sWARNglobal_costmap.global_costmapSensor origin at (-11.09, 68.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416862 ms (missed cycles : 4). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416862 ms (missed cycles : 4).[0m ×2 + 47.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.38sWARNglobal_costmap.global_costmapSensor origin at (-10.15, 68.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.38sWARNglobal_costmap.global_costmapSensor origin at (-11.04, 68.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952474 ms (missed cycles : 4). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952474 ms (missed cycles : 4).[0m ×2 + 48.38sWARNglobal_costmap.global_costmapSensor origin at (-10.13, 68.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.38sWARNglobal_costmap.global_costmapSensor origin at (-11.03, 68.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712053 ms (missed cycles : 2). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712053 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.516ms + 49.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 176.6 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 176.6 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.38sWARNglobal_costmap.global_costmapSensor origin at (-10.08, 68.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.38sWARNglobal_costmap.global_costmapSensor origin at (-10.98, 68.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.041ms + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597413 ms (missed cycles : 5). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597413 ms (missed cycles : 5).[0m ×2 + 50.39sWARNglobal_costmap.global_costmapSensor origin at (-10.05, 68.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.39sWARNglobal_costmap.global_costmapSensor origin at (-10.95, 68.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214801 ms (missed cycles : 3). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214801 ms (missed cycles : 3).[0m ×2 + 51.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 178.8 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 178.8 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.38sWARNglobal_costmap.global_costmapSensor origin at (-10.01, 68.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.38sWARNglobal_costmap.global_costmapSensor origin at (-10.91, 68.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834933 ms (missed cycles : 3). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834933 ms (missed cycles : 3).[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 52.38sWARNglobal_costmap.global_costmapSensor origin at (-10.05, 68.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.38sWARNglobal_costmap.global_costmapSensor origin at (-10.94, 68.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500406 ms (missed cycles : 4). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500406 ms (missed cycles : 4).[0m ×2 + 53.38sWARNglobal_costmap.global_costmapSensor origin at (-10.07, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.38sWARNglobal_costmap.global_costmapSensor origin at (-10.96, 68.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023502 ms (missed cycles : 2). + 54.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023502 ms (missed cycles : 2).[0m ×2 + 54.38sWARNglobal_costmap.global_costmapSensor origin at (-10.00, 68.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.38sWARNglobal_costmap.global_costmapSensor origin at (-10.89, 68.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404182 ms (missed cycles : 3). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404182 ms (missed cycles : 3).[0m ×2 + 55.38sWARNglobal_costmap.global_costmapSensor origin at (-9.99, 68.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.38sWARNglobal_costmap.global_costmapSensor origin at (-10.88, 68.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 56.20sWARNstate_estimatorOptimization exceeded the configured duration by 39804187ns + 56.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500146 ms (missed cycles : 4). + 56.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500146 ms (missed cycles : 4).[0m ×2 + 56.38sWARNglobal_costmap.global_costmapSensor origin at (-9.92, 68.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.38sWARNglobal_costmap.global_costmapSensor origin at (-10.82, 68.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.858ms + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808260 ms (missed cycles : 3). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808260 ms (missed cycles : 3).[0m ×2 + 57.38sWARNglobal_costmap.global_costmapSensor origin at (-9.91, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.38sWARNglobal_costmap.global_costmapSensor origin at (-10.80, 68.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 58.38sWARNglobal_costmap.global_costmapSensor origin at (-9.81, 68.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.38sWARNglobal_costmap.global_costmapSensor origin at (-10.71, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250190 ms (missed cycles : 5). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250190 ms (missed cycles : 5).[0m ×2 + 59.38sWARNglobal_costmap.global_costmapSensor origin at (-9.78, 68.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.38sWARNglobal_costmap.global_costmapSensor origin at (-10.68, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911564 ms (missed cycles : 4). + 59.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911564 ms (missed cycles : 4).[0m ×2 + 59.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.490ms + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 60.38sWARNglobal_costmap.global_costmapSensor origin at (-9.80, 68.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.38sWARNglobal_costmap.global_costmapSensor origin at (-10.70, 68.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466615 ms (missed cycles : 3). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466615 ms (missed cycles : 3).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 61.38sWARNglobal_costmap.global_costmapSensor origin at (-9.83, 68.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.38sWARNglobal_costmap.global_costmapSensor origin at (-10.71, 68.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786659628.40885496 seconds ×3 + 61.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.875ms + 61.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.2 s (AMCL untrusted, spread=3.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.2 s (AMCL untrusted, spread=3.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3). + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3).[0m ×2 + 61.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.956ms + 61.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.291ms + 62.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786659628.97437620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.006ms + 62.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.857ms + 62.38sWARNglobal_costmap.global_costmapSensor origin at (-9.75, 68.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.38sWARNglobal_costmap.global_costmapSensor origin at (-10.64, 68.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.074ms + 62.42sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 62.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.541ms + 62.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.184ms + 62.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666710 ms (missed cycles : 2). + 62.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666710 ms (missed cycles : 2).[0m ×2 + 62.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.920ms + 63.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.262ms + 63.38sWARNglobal_costmap.global_costmapSensor origin at (-9.77, 68.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.38sWARNglobal_costmap.global_costmapSensor origin at (-10.66, 68.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.214ms + 63.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.4 s (AMCL untrusted, spread=9.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.4 s (AMCL untrusted, spread=9.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786393 ms (missed cycles : 2). + 63.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786393 ms (missed cycles : 2).[0m ×2 + 64.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.643ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 152 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.60sINFOmove_groupClearing octomap...[0m ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 4.84sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 5.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860202 ms (missed cycles : 3). + 7.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.049ms + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860202 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220748 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220748 ms (missed cycles : 3).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215798 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215798 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529506 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529506 ms (missed cycles : 4).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554876 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554876 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172581 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172581 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145938 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145938 ms (missed cycles : 3).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430306 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430306 ms (missed cycles : 3).[0m ×2 + 14.93sWARNstate_estimatorOptimization exceeded the configured duration by 16313249ns + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735504 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735504 ms (missed cycles : 2).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897735 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897735 ms (missed cycles : 3).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220799 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220799 ms (missed cycles : 3).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.762ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747256 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747256 ms (missed cycles : 3).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274124 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274124 ms (missed cycles : 3).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439829 ms (missed cycles : 3). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439829 ms (missed cycles : 3).[0m ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695846 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695846 ms (missed cycles : 2).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564949 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564949 ms (missed cycles : 3).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418445 ms (missed cycles : 3). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418445 ms (missed cycles : 3).[0m ×2 + 24.96sWARNstate_estimatorOptimization exceeded the configured duration by 55098069ns + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376612 ms (missed cycles : 3). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376612 ms (missed cycles : 3).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040716 ms (missed cycles : 3). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040716 ms (missed cycles : 3).[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766184 ms (missed cycles : 3). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766184 ms (missed cycles : 3).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829983 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829983 ms (missed cycles : 3).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296754 ms (missed cycles : 3). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296754 ms (missed cycles : 3).[0m ×2 + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510735 ms (missed cycles : 3). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510735 ms (missed cycles : 3).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625135 ms (missed cycles : 3). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625135 ms (missed cycles : 3).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063114 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063114 ms (missed cycles : 3).[0m ×2 + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106969 ms (missed cycles : 4). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106969 ms (missed cycles : 4).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554379 ms (missed cycles : 3). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554379 ms (missed cycles : 3).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757358 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757358 ms (missed cycles : 2).[0m ×2 + 35.74sWARNstate_estimatorOptimization exceeded the configured duration by 31057131ns + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975977 ms (missed cycles : 2). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975977 ms (missed cycles : 2).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984211 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984211 ms (missed cycles : 3).[0m ×2 + 37.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.847ms + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640714 ms (missed cycles : 4). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640714 ms (missed cycles : 4).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055188 ms (missed cycles : 4). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055188 ms (missed cycles : 4).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180869 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180869 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401585 ms (missed cycles : 3). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401585 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232902 ms (missed cycles : 2). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232902 ms (missed cycles : 2).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2).[0m ×2 + 45.76sWARNstate_estimatorOptimization exceeded the configured duration by 46245920ns + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2).[0m ×2 + 47.13sINFOjoint_trajectory_controllerGoal reached, success! + 47.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 47.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 47.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 47.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 48.86sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 48.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 166 warnings · 180 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115558 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115558 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms ×2 + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218407 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218407 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786659460.16906214 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285234 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285234 ms (missed cycles : 2).[0m ×2 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786659461.74150109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292053 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292053 ms (missed cycles : 2).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566712 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566712 ms (missed cycles : 3).[0m ×2 + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473108 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473108 ms (missed cycles : 3).[0m ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.40sWARNstate_estimatorOptimization exceeded the configured duration by 39714492ns + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555277 ms (missed cycles : 4). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555277 ms (missed cycles : 4).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385016 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385016 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.275ms + 9.40sINFOros2_control_nodeMuJoCo sim: 2.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms ×2 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546570 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546570 ms (missed cycles : 3).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.455ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.337ms + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816809 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816809 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.119ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749849 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749849 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928793 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928793 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.508ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897143 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897143 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.171ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456777 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456777 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.336ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.205ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483771 ms (missed cycles : 3). + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483771 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 17.56sWARNstate_estimatorOptimization exceeded the configured duration by 1060074ns + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.698ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468880 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468880 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.847ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.295ms ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.363ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476222 ms (missed cycles : 4). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476222 ms (missed cycles : 4).[0m ×2 + 19.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.274ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.859ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767758 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767758 ms (missed cycles : 2).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 21.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.8 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.8 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275205 ms (missed cycles : 3). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275205 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.454ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.296ms + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724976 ms (missed cycles : 3). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724976 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.535ms + 23.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.541ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646379 ms (missed cycles : 4). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646379 ms (missed cycles : 4).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.832ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.492ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716569 ms (missed cycles : 4). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716569 ms (missed cycles : 4).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.683ms + 25.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.858ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.672ms + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137546 ms (missed cycles : 4). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137546 ms (missed cycles : 4).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.057ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193555 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193555 ms (missed cycles : 3).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.949ms + 27.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.2 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.2 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.66sWARNstate_estimatorOptimization exceeded the configured duration by 7002938ns + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.154ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374490 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374490 ms (missed cycles : 4).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.230ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.500ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.281ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.534ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754363 ms (missed cycles : 4). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754363 ms (missed cycles : 4).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.573ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 29.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.710ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777932 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777932 ms (missed cycles : 4).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.290ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.672ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947960 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947960 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.181ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 31.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.181ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.089ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4).[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3).[0m ×2 + 35.52sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659492.67163706 seconds ×3 + 35.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 36.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659493.23384500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 36.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2).[0m ×2 + 36.51sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 37.67sWARNstate_estimatorOptimization exceeded the configured duration by 7270926ns + 37.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 38.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.8s | 133 warnings · 159 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808260 ms (missed cycles : 3).[0m ×2 + 0.05sWARNglobal_costmap.global_costmapSensor origin at (-9.91, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.05sWARNglobal_costmap.global_costmapSensor origin at (-10.80, 68.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 1.05sWARNglobal_costmap.global_costmapSensor origin at (-9.81, 68.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.05sWARNglobal_costmap.global_costmapSensor origin at (-10.71, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250190 ms (missed cycles : 5). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250190 ms (missed cycles : 5).[0m ×2 + 2.05sWARNglobal_costmap.global_costmapSensor origin at (-9.78, 68.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.05sWARNglobal_costmap.global_costmapSensor origin at (-10.68, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911564 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911564 ms (missed cycles : 4).[0m ×2 + 2.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.490ms + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 3.05sWARNglobal_costmap.global_costmapSensor origin at (-9.80, 68.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sWARNglobal_costmap.global_costmapSensor origin at (-10.70, 68.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466615 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466615 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 4.05sWARNglobal_costmap.global_costmapSensor origin at (-9.83, 68.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.05sWARNglobal_costmap.global_costmapSensor origin at (-10.71, 68.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786659628.40885496 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.875ms + 4.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.2 s (AMCL untrusted, spread=3.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.2 s (AMCL untrusted, spread=3.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.956ms + 4.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.291ms + 4.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786659628.97437620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.006ms + 4.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.857ms + 5.05sWARNglobal_costmap.global_costmapSensor origin at (-9.75, 68.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.05sWARNglobal_costmap.global_costmapSensor origin at (-10.64, 68.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.074ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.541ms + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.184ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666710 ms (missed cycles : 2).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.920ms + 5.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.262ms + 6.05sWARNglobal_costmap.global_costmapSensor origin at (-9.77, 68.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.05sWARNglobal_costmap.global_costmapSensor origin at (-10.66, 68.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.214ms + 6.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.4 s (AMCL untrusted, spread=9.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.4 s (AMCL untrusted, spread=9.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786393 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786393 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.643ms + 7.05sWARNglobal_costmap.global_costmapSensor origin at (-9.78, 68.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.05sWARNglobal_costmap.global_costmapSensor origin at (-10.67, 68.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.067ms + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672366 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672366 ms (missed cycles : 3).[0m ×2 + 7.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.565ms + 8.05sWARNglobal_costmap.global_costmapSensor origin at (-9.81, 68.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.05sWARNglobal_costmap.global_costmapSensor origin at (-10.70, 68.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.628ms + 8.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 193.4 s (AMCL untrusted, spread=6.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 193.4 s (AMCL untrusted, spread=6.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259705 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259705 ms (missed cycles : 3).[0m ×2 + 9.05sWARNglobal_costmap.global_costmapSensor origin at (-9.81, 68.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 9.05sWARNglobal_costmap.global_costmapSensor origin at (-10.69, 68.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.54sWARNstate_estimatorOptimization exceeded the configured duration by 7561215ns + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364380 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364380 ms (missed cycles : 2).[0m ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 10.06sINFOobjective_server_nodeFound path in 31 iterations (0.0316065 s). ×2 + 10.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X_______X] ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977900 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977900 ms (missed cycles : 2).[0m ×2 + 10.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 195.6 s (AMCL untrusted, spread=7.09); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 195.6 s (AMCL untrusted, spread=7.09); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X] ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257429 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257429 ms (missed cycles : 3).[0m ×2 + 11.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 197.6 s (AMCL untrusted, spread=6.89); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 197.6 s (AMCL untrusted, spread=6.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232340 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232340 ms (missed cycles : 2).[0m ×2 + 13.05sWARNglobal_costmap.global_costmapSensor origin at (-9.75, 68.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.05sWARNglobal_costmap.global_costmapSensor origin at (-10.63, 68.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.778ms + 13.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.046ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4).[0m ×2 + 14.05sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.05sWARNglobal_costmap.global_costmapSensor origin at (-10.38, 68.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.215ms + 14.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.569ms + 14.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.124ms + 14.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.328ms + 14.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2).[0m ×2 + 15.05sWARNglobal_costmap.global_costmapSensor origin at (-9.10, 68.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.05sWARNglobal_costmap.global_costmapSensor origin at (-9.97, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.640ms + 15.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.887ms + 15.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.963ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2).[0m ×2 + 16.05sWARNglobal_costmap.global_costmapSensor origin at (-8.63, 67.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.05sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.07sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 4.250ms + 16.37sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.998ms + 16.77sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.336ms + 17.05sWARNglobal_costmap.global_costmapSensor origin at (-8.36, 67.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.05sWARNglobal_costmap.global_costmapSensor origin at (-9.23, 68.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4).[0m ×2 + 17.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 5.472ms + 17.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786659642.22733998 seconds ×3 + 18.05sWARNglobal_costmap.global_costmapSensor origin at (-8.29, 67.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.05sWARNglobal_costmap.global_costmapSensor origin at (-9.16, 68.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3).[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.232ms + 18.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659642.82358909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.56sINFOmove_groupClearing octomap...[0m ×2 + 18.56sINFOmove_groupOctomap cleared.[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.361ms + 18.67sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 4.919ms + 18.87sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.802ms + 19.05sWARNglobal_costmap.global_costmapSensor origin at (-7.39, 67.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.05sWARNglobal_costmap.global_costmapSensor origin at (-8.28, 67.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.07sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 5.167ms + 19.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659643.48374367 seconds ×3 + 19.27sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 5.784ms + 19.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.566ms + 19.47sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.902ms + 19.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.141ms + 19.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659644.04802728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 19.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.271ms + 20.05sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.05sWARNglobal_costmap.global_costmapSensor origin at (-7.52, 67.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.292ms + 20.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.419ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3).[0m ×2 + 20.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659644.58816409 seconds ×3 + 20.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.424ms + 20.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.57sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 4.950ms + 20.67sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 5.601ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.1s | 106 errors · 78 warnings · 428 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-9.10, 68.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.00sWARNglobal_costmap.global_costmapSensor origin at (-9.97, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.640ms + 0.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.887ms + 0.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.963ms + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-8.63, 67.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.02sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 4.250ms + 1.32sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.998ms + 1.72sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.336ms + 2.00sWARNglobal_costmap.global_costmapSensor origin at (-8.36, 67.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.00sWARNglobal_costmap.global_costmapSensor origin at (-9.23, 68.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4).[0m ×2 + 2.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 5.472ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786659642.22733998 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-8.29, 67.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-9.16, 68.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.232ms + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659642.82358909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.361ms + 3.62sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 4.919ms + 3.82sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.802ms + 4.00sWARNglobal_costmap.global_costmapSensor origin at (-7.39, 67.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.00sWARNglobal_costmap.global_costmapSensor origin at (-8.28, 67.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.02sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 5.167ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659643.48374367 seconds ×3 + 4.22sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 5.784ms + 4.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.566ms + 4.42sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.902ms + 4.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.141ms + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659644.04802728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 4.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.271ms + 5.00sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.00sWARNglobal_costmap.global_costmapSensor origin at (-7.52, 67.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.292ms + 5.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.419ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659644.58816409 seconds ×3 + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.424ms + 5.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.52sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 4.950ms + 5.62sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 5.601ms + 5.82sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 3.188ms + 6.00sWARNglobal_costmap.global_costmapSensor origin at (-5.77, 67.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.00sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.12sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 3.872ms + 6.20sWARNstate_estimatorOptimization exceeded the configured duration by 15719489ns + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671823 ms (missed cycles : 2). + 6.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.4 s (AMCL untrusted, spread=11.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.62sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.766ms + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671823 ms (missed cycles : 2).[0m ×2 + 6.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.4 s (AMCL untrusted, spread=11.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.00sWARNglobal_costmap.global_costmapSensor origin at (-5.58, 67.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.00sWARNglobal_costmap.global_costmapSensor origin at (-6.45, 67.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.24sINFOros2_control_nodeMuJoCo sim: 2.28% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981289 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981289 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694596 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694596 ms (missed cycles : 3).[0m ×2 + 8.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 208.6 s (AMCL untrusted, spread=11.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 208.6 s (AMCL untrusted, spread=11.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.00sWARNglobal_costmap.global_costmapSensor origin at (-5.55, 67.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.00sWARNglobal_costmap.global_costmapSensor origin at (-6.42, 67.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504613 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504613 ms (missed cycles : 2).[0m ×2 + 10.00sWARNglobal_costmap.global_costmapSensor origin at (-5.53, 67.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 10.00sWARNglobal_costmap.global_costmapSensor origin at (-6.40, 67.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501470 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501470 ms (missed cycles : 3).[0m ×2 + 10.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 210.8 s (AMCL untrusted, spread=11.03); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 210.8 s (AMCL untrusted, spread=11.03); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119344 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119344 ms (missed cycles : 2).[0m ×2 + 11.78sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 11.82sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORweb_video_auth_proxy-38process has died [pid 14045, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.83sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 11.87sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.87sERRORweb_bridge_auth_proxy-37process has died [pid 14044, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.88sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.88sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.88sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 11.97sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 12.00sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 12.02sINFOvideo_server-36process has finished cleanly [pid 14043] ×2 + 12.02sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 12.06sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 12.09sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 12.13sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 12.17sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 12.20sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 12.23sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 12.23sINFOtf2_web_republisher_node-35process has finished cleanly [pid 14042] ×2 + 12.24sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 12.28sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 12.32sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 12.36sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 12.38sINFOui_teleop_bridge-33process has finished cleanly [pid 14037] ×2 + 12.40sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 12.40sINFOcontroller_managerShutdown request received.... + 12.40sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.40sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.40sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.40sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.40sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.40sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.40sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.40sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.40sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.40sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.40sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.40sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.40sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.40sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.40sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.40sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.40sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.40sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.40sINFOcontroller_managerShutting down the controller manager. + 12.40sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786659651.419 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.40sINFOcomponent_container_mt-31process has finished cleanly [pid 14034] ×2 + 12.42sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 12.43sWARNamcl_odom_gateamcl_odom_gate: latency-compensation target is newer than the odom buffer (odom TF lag exceeds latency_compensation_sec=0.30 s); clamped, under-compensating. + 12.43sERRORmove_group-24process has died [pid 13989, 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_tmstldey --params-file /tmp/launch_params_vz5jpyg5 --params-file /tmp/launch_params_9ni_h7at --params-file /tmp/launch_params_xxg2kf8b --params-file /tmp/launch_params_4xqn57b2 --params-file /tmp/launch_params_co0ddnm0']. ×2 + 12.43sINFOexecute_objective_bridge-32process has finished cleanly [pid 14035] ×2 + 12.45sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.48sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.51sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] ×2 + 12.54sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] ×2 + 12.56sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] ×2 + 12.59sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] ×2 + 12.62sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 12.65sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.68sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.68sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.68sINFOmap_serverDeactivating + 12.68sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.69sINFOmap_serverCleaning up + 12.69sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.69sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.71sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.71sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.71sINFOcontroller_serverDeactivating + 12.71sINFOlocal_costmap.local_costmapDeactivating + 12.71sINFOvideo_server2026/08/13 22:20:51 INF shutting down gracefully ×2 + 12.71sINFOvideo_server2026/08/13 22:20:51 INF [WebRTC] closing ×2 + 12.71sINFOvideo_server2026/08/13 22:20:51 INF [RTSP] closing ×2 + 12.71sINFOvideo_server2026/08/13 22:20:51 INF waiting for running hooks ×2 + 12.71sERRORamclThe bond connection to the lifecycle manager has been broken + 12.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.72sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.72sINFOobjective_server_node[0;m[0m[INFO] [2026-08-13 22:20:51.492] signal_handler(SIGINT/SIGTERM)[0m ×2 + 12.72sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.72sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.72sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.72sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.72sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.73sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.73sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.73sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.73sERRORmove_groupStack trace (most recent call last) in thread 14668: ×2 + 12.73sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.73sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1886c45a63, in __clone ×2 + 12.73sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1886bb8aa3, in ×2 + 12.73sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1886e4adb3, in ×2 + 12.73sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f18875bb637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.73sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f18871dc620, in rclcpp::Rate::sleep() ×2 + 12.73sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f188711ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.73sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f18870e0087, in ×2 + 12.73sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1886e19390, in __cxa_throw ×2 + 12.73sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1886e03a54, in std::terminate() ×2 + 12.73sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1886e190d9, in ×2 + 12.73sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1886e03ff4, in ×2 + 12.73sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1886b448fe, in abort ×2 + 12.73sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1886b6127d, in raise ×2 + 12.73sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1886bbab2c, in pthread_kill ×2 + 12.73sERRORmove_groupAborted (Signal sent by tkill() 13989 0) ×2 + 12.73sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.73sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.73sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.73sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.73sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.73sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.73sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.73sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.73sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.73sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.73sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.74sWARNamcl_odom_gateamcl_odom_gate: latency-compensation target is newer than the odom buffer (odom TF lag exceeds latency_compensation_sec=0.30 s); clamped, under-compensating.[0m ×2 + 12.74sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.74sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.74sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.74sINFOodom_qos_relay.pymain() ×2 + 12.74sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.74sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.74sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.74sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.74sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.74sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.74sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.74sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.74sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.74sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.74sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.74sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.74sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.74sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.74sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.74sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.74sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.74sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.78sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.79sINFOcontroller_serverCleaning up + 12.79sINFOlocal_costmap.local_costmapCleaning up + 12.83sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.83sINFOsmoother_serverDeactivating + 12.83sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.84sINFOsmoother_serverCleaning up + 12.86sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.86sINFOplanner_serverDeactivating + 12.86sINFOglobal_costmap.global_costmapDeactivating + 12.86sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.86sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.86sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.86sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.86sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.86sINFOvelocity_smootherDeactivating + 12.86sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.90sERRORcomponent_container_isolated-2process has died [pid 13889, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_lkxm7ocf --params-file /tmp/launch_params_gkvcze9w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.97sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.97sINFOwaypoint_followerDeactivating + 12.97sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 13.00sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.00sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.01sINFOplanner_serverCleaning up + 13.03sINFOglobal_costmap.global_costmapCleaning up + 13.04sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.04sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.07sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.07sINFObehavior_serverDeactivating + 13.07sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.08sINFObehavior_serverCleaning up + 13.08sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.08sINFObt_navigatorDeactivating + 13.08sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.09sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 13.09sERRORbt_navigatorUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.09sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 13.09sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.09sINFObt_navigatorCleaning up + 13.14sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.14sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.14sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.14sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.14sINFOvelocity_smootherCleaning up + 13.15sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.15sINFOwaypoint_followerCleaning up + 13.18sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.19sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.20sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.20sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.20sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.20sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.20sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.20sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.20sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.20sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.20sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.24sINFObt_navigatorCompleted Cleaning up + 13.24sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.24sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.24sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.26sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 14029] ×2 + 13.30sINFOmove_joint_resampler_node-27process has finished cleanly [pid 14027] ×2 + 13.36sINFOobjective_server_node[2026-08-13 22:20:52.684] [moveit_pro_license] [info] ×2 + 13.36sINFOobjective_server_node************************************************* ×4 + 13.36sINFOobjective_server_node* MoveIt Pro License ×2 + 13.36sINFOobjective_server_node* Application has successfully terminated ×2 + 13.37sINFOwaypoint_manager_node-26process has finished cleanly [pid 14026] ×2 + 13.38sINFOcomponent_container_mt-30process has finished cleanly [pid 14033] ×2 + 13.39sINFOparameter_manager_node-25process has finished cleanly [pid 14025] ×2 + 13.43sINFOobjective_server_node_main-29process has finished cleanly [pid 14032] ×2 + 13.43sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 13.50sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 13975] ×2 + 13.52sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 13976] ×2 + 13.53sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 13896] ×2 + 13.58sERRORcomponent_container_isolated-1process has died [pid 13888, exit code -11, 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_lkxm7ocf --params-file /tmp/launch_params_5bkvr2ka -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.63sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 13895] ×2 + 13.64sINFOslip_aware_odom-5process has finished cleanly [pid 13892] ×2 + 13.65sERRORodom_qos_relay.py-7process has died [pid 13894, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.69sINFOstatic_transform_publisher-3process has finished cleanly [pid 13890] ×2 + 14.60sINFOamcl_odom_gate-6process has finished cleanly [pid 13893] ×2 + 14.66sINFOodom_world_drift-4process has finished cleanly [pid 13891] ×2 + 15.09sINFOweb_bridge-34process has finished cleanly [pid 14041] ×2 + 15.09sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 15.13sINFOros2_control_node-12process has finished cleanly [pid 13977] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 9 errors · 76 warnings · 122 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.811ms + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225891 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225891 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.783ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.789ms + 1.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 82.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 82.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462817 ms (missed cycles : 5). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462817 ms (missed cycles : 5).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648700 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648700 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.525ms + 3.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.71sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716721 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716721 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.88sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786659524.52406740 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786659525.20078421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864968 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864968 ms (missed cycles : 3).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (1.047e-06 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727695 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727695 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 5.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.91sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.508ms + 6.30sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.667ms + 6.48sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.712ms + 6.70sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.605ms + 6.90sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.927ms + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155278 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155278 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.01sINFOjoint_trajectory_controllerReceived new action goal + 7.01sINFOjoint_trajectory_controllerAccepted new action goal + 7.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.479ms + 7.30sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.507ms + 7.41sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 3.021ms + 7.60sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.948ms + 7.78sWARNstate_estimatorOptimization exceeded the configured duration by 12470561ns + 7.81sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 3.845ms + 7.90sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.714ms + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962163 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962163 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 3.712ms + 8.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.484ms + 8.50sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.563ms + 8.60sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.357ms + 8.80sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 4.367ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471009 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471009 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.435ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372098 ms (missed cycles : 4). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372098 ms (missed cycles : 4).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.439ms + 10.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.109ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039465 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039465 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.177ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503935 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503935 ms (missed cycles : 2).[0m ×2 + 12.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310486 ms (missed cycles : 4). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310486 ms (missed cycles : 4).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.139ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121726 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121726 ms (missed cycles : 3).[0m ×2 + 14.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 14.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOjoint_trajectory_controllerGot request to cancel goal + 14.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 15.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786659535.65083551 seconds ×3 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128919 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128919 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 15.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786659536.20735908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 16.04sINFOobjective_server_nodeFound path in 0 iterations (6.65e-07 s). ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.959ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477310 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477310 ms (missed cycles : 3).[0m ×2 + 16.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.51sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.541ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.002ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017778 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017778 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.126ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.020ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 52 warnings · 69 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115558 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115558 ms (missed cycles : 4).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 7.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218407 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218407 ms (missed cycles : 3).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786659460.16906214 seconds ×3 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285234 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285234 ms (missed cycles : 2).[0m ×2 + 9.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.70sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786659461.74150109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292053 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292053 ms (missed cycles : 2).[0m ×2 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566712 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566712 ms (missed cycles : 3).[0m ×2 + 11.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.7s | 6 errors · 52 warnings · 71 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 0.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.212ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968036 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968036 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.522ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653702 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653702 ms (missed cycles : 4).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 2.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.795ms + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739200 ms (missed cycles : 4). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739200 ms (missed cycles : 4).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390193 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390193 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 4.02sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786659566.35994124 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.521ms + 4.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 4.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 6.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 8.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 8.77sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 10.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 31 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2).[0m ×2 + 1.72sWARNstate_estimatorOptimization exceeded the configured duration by 46245920ns + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786659398.08762121 seconds ×3 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786659398.65027976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 7.92sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 53 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4).[0m ×2 + 0.18sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.18sWARNglobal_costmap.global_costmapSensor origin at (-10.38, 68.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.215ms + 0.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.569ms + 0.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.124ms + 1.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.328ms + 1.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2).[0m ×2 + 1.18sWARNglobal_costmap.global_costmapSensor origin at (-9.10, 68.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.18sWARNglobal_costmap.global_costmapSensor origin at (-9.97, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.640ms + 1.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.887ms + 1.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.963ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2).[0m ×2 + 2.18sWARNglobal_costmap.global_costmapSensor origin at (-8.63, 67.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.18sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.21sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 4.250ms + 2.51sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.998ms + 2.91sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.336ms + 3.18sWARNglobal_costmap.global_costmapSensor origin at (-8.36, 67.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.18sWARNglobal_costmap.global_costmapSensor origin at (-9.23, 68.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4).[0m ×2 + 3.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 5.472ms + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786659642.22733998 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNglobal_costmap.global_costmapSensor origin at (-8.29, 67.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.18sWARNglobal_costmap.global_costmapSensor origin at (-9.16, 68.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.232ms + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659642.82358909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.69sINFOmove_groupClearing octomap...[0m ×2 + 4.69sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.361ms + 4.81sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 4.919ms + 5.01sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.802ms + 5.18sWARNglobal_costmap.global_costmapSensor origin at (-7.39, 67.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.18sWARNglobal_costmap.global_costmapSensor origin at (-8.28, 67.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.21sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 5.167ms + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659643.48374367 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 5.784ms + 5.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.566ms + 5.61sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.902ms + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.141ms + 5.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659644.04802728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.271ms + 6.18sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.18sWARNglobal_costmap.global_costmapSensor origin at (-7.52, 67.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.292ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.419ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659644.58816409 seconds ×3 + 6.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.424ms + 6.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 4.950ms + 6.81sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 5.601ms + 7.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 3.188ms + 7.18sWARNglobal_costmap.global_costmapSensor origin at (-5.77, 67.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.18sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.31sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 3.872ms + 7.38sWARNstate_estimatorOptimization exceeded the configured duration by 15719489ns + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671823 ms (missed cycles : 2). + 7.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.4 s (AMCL untrusted, spread=11.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.80sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.766ms + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671823 ms (missed cycles : 2).[0m ×2 + 7.96sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.4 s (AMCL untrusted, spread=11.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 19 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2).[0m ×2 + 1.72sWARNstate_estimatorOptimization exceeded the configured duration by 46245920ns + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 19 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922899 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745219 ms (missed cycles : 2).[0m ×2 + 1.72sWARNstate_estimatorOptimization exceeded the configured duration by 46245920ns + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972724 ms (missed cycles : 2).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 28 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.60sINFOmove_groupClearing octomap...[0m ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 4.84sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 5.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 59 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746968 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659394.27872181 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.124ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659394.83748245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628303 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.1697e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOjoint_trajectory_controllerReceived new action goal + 1.76sINFOjoint_trajectory_controllerAccepted new action goal + 1.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610981 ms (missed cycles : 3).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427407 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786659398.08762121 seconds ×3 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477860 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786659398.65027976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851705 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451137 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 28 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 28 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 28 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 28 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269213 ms (missed cycles : 2).[0m ×2 + 0.70sWARNamcl_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. + 0.70sWARNamcl_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 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896478 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 21456380ns + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475971 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.478ms + 2.91sWARNamcl_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. + 2.91sWARNamcl_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 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659455.53043127 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915836 ms (missed cycles : 5).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659456.09891534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419673 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614556 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 31 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.181ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.089ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 2.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3).[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659492.67163706 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659493.23384500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 6.17sWARNstate_estimatorOptimization exceeded the configured duration by 7270926ns + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 31 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.181ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.089ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 2.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3).[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659492.67163706 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659493.23384500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 6.17sWARNstate_estimatorOptimization exceeded the configured duration by 7270926ns + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 31 warnings · 56 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.181ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142455 ms (missed cycles : 5).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.089ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331808 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 2.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966623 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448685 ms (missed cycles : 3).[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659492.67163706 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659493.23384500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078915 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296193 ms (missed cycles : 3).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 6.17sWARNstate_estimatorOptimization exceeded the configured duration by 7270926ns + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.31sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.6 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 31 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 0.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659566.98037696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759735 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 0.52sINFOjoint_trajectory_controllerReceived new action goal + 0.52sINFOjoint_trajectory_controllerAccepted new action goal + 0.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635022 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135641 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253662 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659571.11050963 seconds ×3 + 4.17sWARNstate_estimatorOptimization exceeded the configured duration by 7578511ns + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472435 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659571.67863917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393736 ms (missed cycles : 3).[0m ×2 + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750685 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 44 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252449 ms (missed cycles : 4).[0m ×2 + 0.18sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.18sWARNglobal_costmap.global_costmapSensor origin at (-10.38, 68.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.215ms + 0.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.569ms + 0.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.124ms + 1.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.328ms + 1.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.01sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.8 s (AMCL untrusted, spread=7.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318800 ms (missed cycles : 2).[0m ×2 + 1.18sWARNglobal_costmap.global_costmapSensor origin at (-9.10, 68.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.18sWARNglobal_costmap.global_costmapSensor origin at (-9.97, 68.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.640ms + 1.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.887ms + 1.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.963ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127294 ms (missed cycles : 2).[0m ×2 + 2.18sWARNglobal_costmap.global_costmapSensor origin at (-8.63, 67.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.18sWARNglobal_costmap.global_costmapSensor origin at (-9.50, 68.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.21sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 4.250ms + 2.51sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.998ms + 2.91sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 5.336ms + 3.18sWARNglobal_costmap.global_costmapSensor origin at (-8.36, 67.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.18sWARNglobal_costmap.global_costmapSensor origin at (-9.23, 68.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297744 ms (missed cycles : 4).[0m ×2 + 3.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.21sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.0 s (AMCL untrusted, spread=7.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 5.472ms + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786659642.22733998 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNglobal_costmap.global_costmapSensor origin at (-8.29, 67.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.18sWARNglobal_costmap.global_costmapSensor origin at (-9.16, 68.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973297 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.232ms + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659642.82358909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.69sINFOmove_groupClearing octomap...[0m ×2 + 4.69sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.361ms + 4.81sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 4.919ms + 5.01sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.802ms + 5.18sWARNglobal_costmap.global_costmapSensor origin at (-7.39, 67.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.18sWARNglobal_costmap.global_costmapSensor origin at (-8.28, 67.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.21sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 5.167ms + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659643.48374367 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 5.784ms + 5.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.41sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.2 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651986 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.566ms + 5.61sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.902ms + 5.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.141ms + 5.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659644.04802728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.346ms + 6.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.271ms + 6.18sWARNglobal_costmap.global_costmapSensor origin at (-6.64, 67.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.18sWARNglobal_costmap.global_costmapSensor origin at (-7.52, 67.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.292ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.419ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840668 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659644.58816409 seconds ×3 + 6.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.424ms + 6.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 4.950ms + 6.81sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 5.601ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.9s | 64 errors · 826 warnings · 1940 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-13-22-09-30-705388-96e6a5fc777a-9613 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.25sINFOros2_control_node-12process started with pid [9752] + 14.25sINFOmove_group-24process started with pid [9764] + 14.26sINFOparameter_manager_node-25process started with pid [9801] + 14.26sINFOwaypoint_manager_node-26process started with pid [9804] + 14.26sINFOmove_joint_resampler_node-27process started with pid [9805] + 14.26sINFOmove_end_effector_resampler_node-28process started with pid [9807] + 14.26sINFOobjective_server_node_main-29process started with pid [9808] + 14.26sINFOcomponent_container_mt-30process started with pid [9827] + 14.26sINFOcomponent_container_mt-31process started with pid [9831] + 14.26sINFOexecute_objective_bridge-32process started with pid [9832] + 14.26sINFOui_teleop_bridge-33process started with pid [9834] + 14.26sINFOweb_bridge-34process started with pid [9836] + 14.26sINFOtf2_web_republisher_node-35process started with pid [9837] + 14.26sINFOvideo_server-36process started with pid [9839] + 14.26sINFOweb_bridge_auth_proxy-37process started with pid [9840] + 14.26sINFOweb_video_auth_proxy-38process started with pid [9842] + 14.27sINFOcomponent_container_isolated-1process started with pid [9663] + 14.27sINFOcomponent_container_isolated-2process started with pid [9664] + 14.27sINFOstatic_transform_publisher-3process started with pid [9665] + 14.27sINFOodom_world_drift-4process started with pid [9666] + 14.27sINFOslip_aware_odom-5process started with pid [9667] + 14.27sINFOamcl_odom_gate-6process started with pid [9668] + 14.27sINFOodom_qos_relay.py-7process started with pid [9669] + 14.27sINFOforward_stereo_publisher.py-8process started with pid [9670] + 14.27sINFOscan_to_scan_filter_chain-9process started with pid [9671] + 14.27sINFOscan_to_scan_filter_chain-10process started with pid [9750] + 14.27sINFOfixed_lag_smoother_node-11process started with pid [9751] + 14.27sINFOros2-13process started with pid [9753] + 14.27sINFOros2-14process started with pid [9754] + 14.27sINFOros2-15process started with pid [9755] + 14.28sINFOros2-16process started with pid [9756] + 14.28sINFOros2-17process started with pid [9757] + 14.28sINFOros2-18process started with pid [9758] + 14.28sINFOros2-19process started with pid [9759] + 14.28sINFOros2-20process started with pid [9760] + 14.28sINFOros2-21process started with pid [9761] + 14.28sINFOros2-22process started with pid [9762] + 14.28sINFOros2-23process started with pid [9763] + 14.39sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 14.39sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 14.39sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 14.39sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 14.39sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.39sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast.[0m ×11 + 14.39sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.39sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.40sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.40sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.40sWARNros2_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 + 14.40sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 14.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.43sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863302 ms (missed cycles : 2).[0m + 14.57sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.57sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.57sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.62sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.91sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 14.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.00sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 15.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.05sINFOmove_groupLoaded robot model in 0.40704 seconds[0m + 15.05sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 15.05sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.23sINFOvideo_server2026/08/13 22:09:49 INF MediaMTX v1.19.3, linux, amd64 + 15.23sINFOvideo_server2026/08/13 22:09:49 INF configuration loaded from /tmp/moveit-webrtc-oevtmeb1/mediamtx.yml + 15.23sINFOvideo_server2026/08/13 22:09:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 15.23sINFOvideo_server2026/08/13 22:09:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101138 ms (missed cycles : 5).[0m + 15.90sINFOwaypoint_manager_nodeLoaded robot model in 0.478907 seconds[0m + 15.91sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.91sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.37sWARNmove_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 + 16.37sWARNmove_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 + 16.37sWARNmove_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 + 16.37sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 16.41sWARNmove_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 + 16.41sWARNmove_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 + 16.41sWARNmove_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 + 16.41sWARNmove_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 + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.68sWARNwaypoint_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 + 16.68sWARNwaypoint_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 + 16.69sWARNwaypoint_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 + 16.69sWARNwaypoint_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 + 16.69sWARNwaypoint_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 + 16.70sWARNwaypoint_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 + 16.70sWARNwaypoint_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 + 16.70sWARNwaypoint_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 + 16.70sWARNwaypoint_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 + 16.70sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.71sWARNwaypoint_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 + 16.72sWARNwaypoint_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 + 16.72sWARNwaypoint_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 + 16.77sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.78sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419152 ms (missed cycles : 4).[0m + 16.87sINFOmove_group[2026-08-13 22:09:51.052] [moveit_pro_license] [info] + 16.87sINFOmove_group************************************************* ×6 + 16.87sINFOmove_group* MoveIt Pro License ×3 + 16.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.05sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 17.06sINFOwaypoint_manager_node[2026-08-13 22:09:51.236] [moveit_pro_license] [info] + 17.06sINFOwaypoint_manager_node************************************************* ×6 + 17.06sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 17.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.44sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 17.44sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 17.45sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 17.45sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.45sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 17.46sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 17.46sINFOmove_groupStarting planning scene monitor[0m ×3 + 17.47sINFOmove_groupListening to '/planning_scene'[0m ×3 + 17.47sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 17.47sINFOmove_groupListening to 'collision_object'[0m ×3 + 17.48sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.65sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.65sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.66sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.96sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.97sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.97sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.97sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.97sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.97sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.97sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.97sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.97sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.97sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.97sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.97sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.97sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.97sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.97sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.97sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.97sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.97sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.97sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.97sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711363 ms (missed cycles : 2).[0m + 17.99sWARNros2_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 + 18.06sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.19sINFOobjective_server_node[2026-08-13 22:09:52.368] [moveit_pro_license] [info] + 18.19sINFOobjective_server_node************************************************* ×8 + 18.19sINFOobjective_server_node* MoveIt Pro License ×4 + 18.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.22sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 18.27sINFOobjective_server_nodeLoaded robot model in 0.0248934 seconds[0m + 18.27sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.27sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.29sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.31sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 18.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.31sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.39sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 18.40sWARNcomponent_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 + 18.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.58sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.59sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.59sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.59sINFOcomponent_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 + 18.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.80sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.82sWARNobjective_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 + 18.82sWARNobjective_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 + 18.82sWARNobjective_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 + 18.82sWARNobjective_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 + 18.83sINFOcomponent_container_mtLoaded robot model in 0.435322 seconds[0m + 18.83sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.83sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.84sINFOros2_control_node[2026-08-13 22:09:53.014] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.84sINFOros2_control_node[2026-08-13 22:09:53.018] [info] Controller state will be published at 10 Hz. + 18.84sINFOros2_control_node[2026-08-13 22:09:53.019] [info] VelocityForceController 'on_configure' succeeded. + 18.91sINFOobjective_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 + 18.91sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.93sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 19.01sINFOcomponent_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 + 19.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 19.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518622 ms (missed cycles : 2).[0m + 19.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 19.22sINFOros2-21process has finished cleanly [pid 9761] + 19.24sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.24sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.24sWARNcomponent_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 + 19.24sWARNcomponent_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 + 19.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.24sWARNcomponent_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 + 19.24sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.25sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.26sWARNcomponent_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 + 19.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 19.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 19.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.40sINFOmove_group ×12 + 19.40sINFOmove_group******************************************************** ×6 + 19.40sINFOmove_group* MoveGroup using: ×3 + 19.40sINFOmove_group* - apply_planning_scene_service ×3 + 19.40sINFOmove_group* - clear_octomap_service ×3 + 19.40sINFOmove_group* - get_group_urdf ×3 + 19.40sINFOmove_group* - load_geometry_from_file ×3 + 19.40sINFOmove_group* - get_planning_scene_service ×3 + 19.40sINFOmove_group* - kinematics_service ×3 + 19.40sINFOmove_group* - save_geometry_to_file ×3 + 19.40sINFOmove_group* - GetPlanningGroups ×3 + 19.40sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.40sINFOmove_group[0m ×3 + 19.40sINFOmove_group[92mYou can start planning now![0m ×3 + 19.44sINFOcomponent_container_mt[2026-08-13 22:09:53.615] [moveit_pro_license] [info] + 19.44sINFOcomponent_container_mt************************************************* ×6 + 19.44sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.44sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.61sINFOros2-15process has finished cleanly [pid 9755] + 19.67sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 19.73sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.73sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.74sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.78sWARNobjective_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 + 19.79sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.79sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 20.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951724 ms (missed cycles : 2).[0m + 20.15sINFOros2_control_node[2026-08-13 22:09:54.328] [info] Controller state will be published at 20 Hz. + 20.15sINFOros2_control_node[2026-08-13 22:09:54.329] [info] JointVelocityController 'on_configure' succeeded. + 20.40sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 20.49sINFOros2-23process has finished cleanly [pid 9763] + 20.51sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 20.51sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 20.52sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 20.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 20.59sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 20.60sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 20.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 20.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 20.62sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 20.93sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.93sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.94sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 20.95sINFOros2-17process has finished cleanly [pid 9757] + 20.99sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.00sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.00sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.00sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995732 ms (missed cycles : 3).[0m + 21.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 21.38sINFOros2-14process has finished cleanly [pid 9754] + 21.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.47sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.47sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 21.83sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 21.83sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 21.84sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 21.85sINFOros2-19process has finished cleanly [pid 9759] + 21.90sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 21.91sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 21.91sINFOros2_control_nodeconfigure successful[0m ×9 + 21.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 21.92sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831757 ms (missed cycles : 2).[0m + 22.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 22.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 22.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 22.29sINFOros2-16process has finished cleanly [pid 9756] + 22.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 22.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 22.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 22.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 22.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 22.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 22.74sINFOros2-13process has finished cleanly [pid 9753] + 22.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 23.26sINFOros2_control_node[2026-08-13 22:09:57.442] [info] Controller state will be published at 20 Hz. + 23.27sINFOros2_control_node[2026-08-13 22:09:57.443] [info] JointVelocityController 'on_configure' succeeded. + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983212 ms (missed cycles : 2).[0m + 23.64sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 23.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 23.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 23.65sINFOros2-22process has finished cleanly [pid 9762] + 23.70sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 23.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 24.15sINFOros2_control_node[2026-08-13 22:09:58.330] [warning] No force/torque sensor configured. The VFC will ignore force references. + 24.15sINFOros2_control_node[2026-08-13 22:09:58.333] [info] Controller state will be published at 10 Hz. + 24.16sINFOros2_control_node[2026-08-13 22:09:58.338] [info] VelocityForceController 'on_configure' succeeded. + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827440 ms (missed cycles : 2).[0m + 24.54sINFOros2-20process has finished cleanly [pid 9760] + 24.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 24.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 24.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kjaj8u6l --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_wq71y_xc --params-file /tmp/launch_params_dva1huc7 [0m + 24.65sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 24.67sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 24.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 24.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 25.07sINFOros2-18process has finished cleanly [pid 9758] + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707981 ms (missed cycles : 3).[0m + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071446 ms (missed cycles : 4).[0m + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534747 ms (missed cycles : 3).[0m + 28.01sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695697 ms (missed cycles : 3).[0m + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012043 ms (missed cycles : 2).[0m + 30.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659004.30103827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.12sINFOmove_groupClearing octomap...[0m ×4 + 30.12sINFOmove_groupOctomap cleared.[0m ×4 + 30.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659004.31124496 seconds + 30.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659004.87045145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659004.88056231 seconds + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871221 ms (missed cycles : 2).[0m + 31.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659005.43089294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659005.58150363 seconds + 31.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659006.16868854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495534 ms (missed cycles : 3).[0m + 32.00sINFOobjective_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 + 32.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 32.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 32.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 32.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659006.21884704 seconds + 32.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659006.78029919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 32.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 32.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 32.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 32.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082860 ms (missed cycles : 4).[0m + 33.66sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.67sINFOobjective_server_nodePlanning for 177 path waypoints. + 33.97sINFOros2_control_nodeReceived new action goal[0m ×14 + 33.97sINFOros2_control_nodeAccepted new action goal[0m ×14 + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795248 ms (missed cycles : 2).[0m + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647508 ms (missed cycles : 2).[0m + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653532 ms (missed cycles : 3).[0m + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631526 ms (missed cycles : 3).[0m + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446442 ms (missed cycles : 3).[0m + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552091 ms (missed cycles : 2).[0m + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871988 ms (missed cycles : 2).[0m + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590688 ms (missed cycles : 3).[0m + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480902 ms (missed cycles : 3).[0m + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705356 ms (missed cycles : 4).[0m + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850348 ms (missed cycles : 3).[0m + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933247 ms (missed cycles : 3).[0m + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155033 ms (missed cycles : 3).[0m + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024305 ms (missed cycles : 2).[0m + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173920 ms (missed cycles : 3).[0m + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481968 ms (missed cycles : 4).[0m + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763744 ms (missed cycles : 2).[0m + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506552 ms (missed cycles : 4).[0m + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253449 ms (missed cycles : 2).[0m + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758447 ms (missed cycles : 2).[0m + 55.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058464 ms (missed cycles : 3).[0m + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604428 ms (missed cycles : 3).[0m + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739629 ms (missed cycles : 2).[0m + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370389 ms (missed cycles : 3).[0m + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652174 ms (missed cycles : 3).[0m + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654682 ms (missed cycles : 3).[0m + 61.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847626 ms (missed cycles : 2).[0m + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258918 ms (missed cycles : 3).[0m + 63.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869365 ms (missed cycles : 3).[0m + 64.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813494 ms (missed cycles : 2).[0m + 65.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309680 ms (missed cycles : 2).[0m + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187418 ms (missed cycles : 3).[0m + 67.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429354 ms (missed cycles : 3).[0m + 68.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869206 ms (missed cycles : 2).[0m + 70.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389353 ms (missed cycles : 2).[0m + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082120 ms (missed cycles : 2).[0m + 72.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497597 ms (missed cycles : 3).[0m + 73.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952546 ms (missed cycles : 3).[0m + 74.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094532 ms (missed cycles : 2).[0m + 75.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634819 ms (missed cycles : 3).[0m + 75.55sINFOros2_control_nodeGoal reached, success![0m ×13 + 75.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786659049.75999069 seconds + 76.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786659050.31866193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065916 ms (missed cycles : 3).[0m + 77.26sINFOobjective_server_nodeFound path in 0 iterations (3.4261e-05 s). + 77.26sINFOobjective_server_nodePath shortcutter: [X____X] + 77.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 77.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262256 ms (missed cycles : 4).[0m + 78.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821279 ms (missed cycles : 3).[0m + 79.39sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786659053.56879616 seconds + 79.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524094 ms (missed cycles : 2).[0m + 79.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786659054.13097048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 80.35sINFOobjective_server_nodeFound path in 0 iterations (7.61e-07 s). + 80.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340008 ms (missed cycles : 2).[0m + 81.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962367 ms (missed cycles : 3).[0m + 82.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 82.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701235 ms (missed cycles : 3).[0m + 83.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285756 ms (missed cycles : 2).[0m + 84.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442517 ms (missed cycles : 3).[0m + 85.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958175 ms (missed cycles : 2).[0m + 86.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552404 ms (missed cycles : 3).[0m + 87.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335766 ms (missed cycles : 4).[0m + 88.01sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m + 88.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706471 ms (missed cycles : 4).[0m + 89.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050168 ms (missed cycles : 3).[0m + 91.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482291 ms (missed cycles : 4).[0m + 92.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886510 ms (missed cycles : 2).[0m + 93.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787462 ms (missed cycles : 2).[0m + 94.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987615 ms (missed cycles : 3).[0m + 95.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921278 ms (missed cycles : 2).[0m + 96.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306770 ms (missed cycles : 2).[0m + 97.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013308 ms (missed cycles : 5).[0m + 98.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552086 ms (missed cycles : 3).[0m + 99.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267580 ms (missed cycles : 5).[0m +100.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458506 ms (missed cycles : 2).[0m +101.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769291 ms (missed cycles : 4).[0m +102.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353722 ms (missed cycles : 2).[0m +104.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565697 ms (missed cycles : 4).[0m +105.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987735 ms (missed cycles : 2).[0m +106.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404793 ms (missed cycles : 4).[0m +107.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396040 ms (missed cycles : 5).[0m +108.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.913817 ms (missed cycles : 6).[0m +109.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997930 ms (missed cycles : 3).[0m +110.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224593 ms (missed cycles : 2).[0m +111.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098343 ms (missed cycles : 3).[0m +111.36sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +112.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323959 ms (missed cycles : 3).[0m +113.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191584 ms (missed cycles : 5).[0m +114.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842206 ms (missed cycles : 3).[0m +115.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066544 ms (missed cycles : 3).[0m +116.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058845 ms (missed cycles : 2).[0m +117.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805659 ms (missed cycles : 4).[0m +118.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748872 ms (missed cycles : 2).[0m +119.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620690 ms (missed cycles : 3).[0m +120.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920125 ms (missed cycles : 3).[0m +121.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830660 ms (missed cycles : 5).[0m +122.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140610 ms (missed cycles : 3).[0m +123.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +123.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974256 ms (missed cycles : 3).[0m +124.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876240 ms (missed cycles : 3).[0m +125.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +126.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512786 ms (missed cycles : 3).[0m +127.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550550 ms (missed cycles : 4).[0m +127.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +128.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046120 ms (missed cycles : 3).[0m +129.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149481 ms (missed cycles : 2).[0m +129.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +130.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772909 ms (missed cycles : 2).[0m +131.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625725 ms (missed cycles : 4).[0m +131.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +132.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778827 ms (missed cycles : 2).[0m +133.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010732 ms (missed cycles : 5).[0m +133.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +134.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023884 ms (missed cycles : 4).[0m +135.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548839 ms (missed cycles : 3).[0m +136.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964913 ms (missed cycles : 2).[0m +137.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786659111.25112057 seconds +137.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376912 ms (missed cycles : 3).[0m +137.65sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786659111.82902956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +138.09sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). +138.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +138.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608952 ms (missed cycles : 4).[0m +139.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879733 ms (missed cycles : 3).[0m +140.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=1.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +140.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219660 ms (missed cycles : 3).[0m +141.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953762 ms (missed cycles : 3).[0m +141.74sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786659115.91917396 seconds +142.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=1.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +142.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984236 ms (missed cycles : 2).[0m +143.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786659117.47759891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +143.70sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). +143.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027483 ms (missed cycles : 3).[0m +144.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.0 s (AMCL untrusted, spread=1.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +144.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247461 ms (missed cycles : 3).[0m +145.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +145.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228339 ms (missed cycles : 3).[0m +146.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=1.58); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +147.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585989 ms (missed cycles : 3).[0m +148.01sINFOros2_control_nodeMuJoCo sim: 2.88% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +148.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126543 ms (missed cycles : 4).[0m +148.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.4 s (AMCL untrusted, spread=1.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +149.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067669 ms (missed cycles : 3).[0m +150.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659090 ms (missed cycles : 3).[0m +150.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=1.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +151.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716364 ms (missed cycles : 2).[0m +152.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951139 ms (missed cycles : 3).[0m +152.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=1.03); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +153.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786186 ms (missed cycles : 3).[0m +154.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844900 ms (missed cycles : 3).[0m +154.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +155.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632295 ms (missed cycles : 3).[0m +156.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273243 ms (missed cycles : 3).[0m +157.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=0.83); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +157.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961616 ms (missed cycles : 3).[0m +158.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520369 ms (missed cycles : 4).[0m +159.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +159.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979900 ms (missed cycles : 3).[0m +160.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476460 ms (missed cycles : 2).[0m +161.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +162.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745971 ms (missed cycles : 3).[0m +163.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722951 ms (missed cycles : 2).[0m +163.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=0.51); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +164.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540648 ms (missed cycles : 3).[0m +165.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498076 ms (missed cycles : 4).[0m +165.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.2 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +166.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324365 ms (missed cycles : 4).[0m +167.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083023 ms (missed cycles : 4).[0m +167.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.4 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +168.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972192 ms (missed cycles : 4).[0m +169.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212903 ms (missed cycles : 4).[0m +169.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.6 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +170.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314631 ms (missed cycles : 2).[0m +171.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297862 ms (missed cycles : 4).[0m +171.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.6 s (AMCL untrusted, spread=0.98); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +172.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089099 ms (missed cycles : 3).[0m +173.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911748 ms (missed cycles : 4).[0m +173.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 38.6 s (AMCL untrusted, spread=1.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +174.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786659148.47774267 seconds +174.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484726 ms (missed cycles : 3).[0m +174.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786659149.04086447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +175.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). +175.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239918 ms (missed cycles : 3).[0m +176.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 40.8 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +176.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890498 ms (missed cycles : 3).[0m +177.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +177.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981916 ms (missed cycles : 2).[0m +178.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=0.70); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +178.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036404 ms (missed cycles : 2).[0m +179.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960819 ms (missed cycles : 3).[0m +180.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.2 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +181.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225431 ms (missed cycles : 3).[0m +182.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061548 ms (missed cycles : 4).[0m +182.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +183.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161490 ms (missed cycles : 3).[0m +184.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121989 ms (missed cycles : 2).[0m +184.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +185.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810661 ms (missed cycles : 4).[0m +186.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581288 ms (missed cycles : 3).[0m +186.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +187.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750209 ms (missed cycles : 2).[0m +188.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977631 ms (missed cycles : 3).[0m +188.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.6 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +189.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005545 ms (missed cycles : 2).[0m +190.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643262 ms (missed cycles : 3).[0m +191.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +191.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214992 ms (missed cycles : 4).[0m +192.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303476 ms (missed cycles : 2).[0m +193.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.0 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +193.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724803 ms (missed cycles : 2).[0m +194.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164565 ms (missed cycles : 2).[0m +195.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.2 s (AMCL untrusted, spread=1.08); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +195.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353425 ms (missed cycles : 4).[0m +196.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336535 ms (missed cycles : 2).[0m +197.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=1.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +197.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481922 ms (missed cycles : 4).[0m +199.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380386 ms (missed cycles : 4).[0m +199.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.4 s (AMCL untrusted, spread=1.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +200.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454943 ms (missed cycles : 5).[0m +201.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150562 ms (missed cycles : 3).[0m +201.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +202.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251278 ms (missed cycles : 2).[0m +203.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026892 ms (missed cycles : 3).[0m +203.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +204.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930309 ms (missed cycles : 4).[0m +205.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864193 ms (missed cycles : 2).[0m +205.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +206.22sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +206.23sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +206.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786659180.41106367 seconds +206.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207634 ms (missed cycles : 3).[0m +206.93sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786659181.10442972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +207.30sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). +207.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333325 ms (missed cycles : 2).[0m +207.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=4.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +208.01sINFOros2_control_nodeMuJoCo sim: 2.56% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +208.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977981 ms (missed cycles : 2).[0m +209.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772868 ms (missed cycles : 2).[0m +210.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.8 s (AMCL untrusted, spread=1.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +210.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766957 ms (missed cycles : 2).[0m +211.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418091 ms (missed cycles : 4).[0m +212.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.0 s (AMCL untrusted, spread=1.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +212.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653911 ms (missed cycles : 4).[0m +213.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605152 ms (missed cycles : 4).[0m +214.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.2 s (AMCL untrusted, spread=1.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +214.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667122 ms (missed cycles : 2).[0m +215.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495366 ms (missed cycles : 3).[0m +216.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=0.96); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +216.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483947 ms (missed cycles : 2).[0m +216.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +216.96sINFOros2_control_nodeGot request to cancel goal[0m +216.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +216.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786659191.15475893 seconds +217.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786659191.71164370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +217.94sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). +217.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016691 ms (missed cycles : 3).[0m +218.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.2 s (AMCL untrusted, spread=1.93); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +219.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087266 ms (missed cycles : 3).[0m +220.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088395 ms (missed cycles : 4).[0m +220.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.2 s (AMCL untrusted, spread=3.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +221.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721928 ms (missed cycles : 3).[0m +222.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673190 ms (missed cycles : 3).[0m +222.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.4 s (AMCL untrusted, spread=1.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +223.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112934 ms (missed cycles : 3).[0m +224.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162578 ms (missed cycles : 2).[0m +224.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=1.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +225.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147614 ms (missed cycles : 4).[0m +226.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588879 ms (missed cycles : 2).[0m +226.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=2.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +227.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288876 ms (missed cycles : 3).[0m +228.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113222 ms (missed cycles : 2).[0m +228.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=2.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +229.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387946 ms (missed cycles : 4).[0m +230.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860016 ms (missed cycles : 4).[0m +231.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=4.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +231.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746551 ms (missed cycles : 3).[0m +232.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236451 ms (missed cycles : 3).[0m +233.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=5.80); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +233.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338878 ms (missed cycles : 3).[0m +234.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759492 ms (missed cycles : 3).[0m +235.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.0 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +235.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108926 ms (missed cycles : 4).[0m +236.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914183 ms (missed cycles : 2).[0m +237.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +237.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365051 ms (missed cycles : 2).[0m +238.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784272 ms (missed cycles : 3).[0m +239.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.4 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +240.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654879 ms (missed cycles : 4).[0m +241.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025973 ms (missed cycles : 4).[0m +241.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +242.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922286 ms (missed cycles : 3).[0m +243.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110950 ms (missed cycles : 4).[0m +243.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.6 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +244.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589794 ms (missed cycles : 4).[0m +245.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421374 ms (missed cycles : 3).[0m +246.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.8 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +246.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509617 ms (missed cycles : 3).[0m +247.40sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +247.41sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +247.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786659221.59184265 seconds +247.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291693 ms (missed cycles : 2).[0m +248.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786659222.24274683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +248.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.8 s (AMCL untrusted, spread=0.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +248.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592526 ms (missed cycles : 3).[0m +249.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774173 ms (missed cycles : 3).[0m +250.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.0 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +250.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583046 ms (missed cycles : 4).[0m +251.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198657 ms (missed cycles : 3).[0m +252.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786659226.31290483 seconds +252.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.2 s (AMCL untrusted, spread=0.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +252.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786659226.88753581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +252.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058872 ms (missed cycles : 2).[0m +253.22sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). +253.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549993 ms (missed cycles : 3).[0m +254.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.4 s (AMCL untrusted, spread=0.83); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +254.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914668 ms (missed cycles : 3).[0m +255.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336280 ms (missed cycles : 2).[0m +256.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.6 s (AMCL untrusted, spread=0.83); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +257.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132094 ms (missed cycles : 3).[0m +258.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343495 ms (missed cycles : 4).[0m +258.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.6 s (AMCL untrusted, spread=0.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +259.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967950 ms (missed cycles : 3).[0m +260.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228202 ms (missed cycles : 2).[0m +261.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.8 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +261.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854500 ms (missed cycles : 4).[0m +262.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040456 ms (missed cycles : 4).[0m +263.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.8 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +263.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242801 ms (missed cycles : 4).[0m +264.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950992 ms (missed cycles : 3).[0m +265.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +265.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694825 ms (missed cycles : 3).[0m +266.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219341 ms (missed cycles : 4).[0m +267.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.2 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +267.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918915 ms (missed cycles : 3).[0m +268.02sINFOros2_control_nodeMuJoCo sim: 2.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +268.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961507 ms (missed cycles : 3).[0m +269.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +269.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679857 ms (missed cycles : 2).[0m +270.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517105 ms (missed cycles : 2).[0m +271.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.4 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +272.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031369 ms (missed cycles : 4).[0m +273.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303670 ms (missed cycles : 2).[0m +273.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.4 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +274.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522184 ms (missed cycles : 4).[0m +275.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211122 ms (missed cycles : 5).[0m +275.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.4 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +276.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575659 ms (missed cycles : 4).[0m +277.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964466 ms (missed cycles : 4).[0m +277.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +278.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493487 ms (missed cycles : 3).[0m +279.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041860 ms (missed cycles : 2).[0m +279.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.6 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +280.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608207 ms (missed cycles : 4).[0m +281.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510984 ms (missed cycles : 3).[0m +281.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.6 s (AMCL untrusted, spread=0.66); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +282.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368768 ms (missed cycles : 4).[0m +283.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303357 ms (missed cycles : 2).[0m +284.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.8 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +285.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347314 ms (missed cycles : 3).[0m +286.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829728 ms (missed cycles : 4).[0m +286.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.0 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +287.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527749 ms (missed cycles : 2).[0m +288.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468363 ms (missed cycles : 3).[0m +288.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.0 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +289.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230898 ms (missed cycles : 4).[0m +290.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470850 ms (missed cycles : 5).[0m +290.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.2 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +291.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544308 ms (missed cycles : 3).[0m +292.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904864 ms (missed cycles : 2).[0m +292.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.4 s (AMCL untrusted, spread=0.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +293.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179257 ms (missed cycles : 4).[0m +294.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162088 ms (missed cycles : 3).[0m +294.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 159.4 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +295.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879756 ms (missed cycles : 2).[0m +296.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350614 ms (missed cycles : 4).[0m +296.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 161.6 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +297.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983565 ms (missed cycles : 2).[0m +298.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940941 ms (missed cycles : 5).[0m +298.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 163.6 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +299.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007255 ms (missed cycles : 4).[0m +300.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615358 ms (missed cycles : 5).[0m +301.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 165.8 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +301.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179353 ms (missed cycles : 3).[0m +302.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314929 ms (missed cycles : 4).[0m +303.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 167.8 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +303.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679596 ms (missed cycles : 4).[0m +304.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692019 ms (missed cycles : 2).[0m +305.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 169.8 s (AMCL untrusted, spread=0.68); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +306.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773474 ms (missed cycles : 3).[0m +307.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170462 ms (missed cycles : 2).[0m +307.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.0 s (AMCL untrusted, spread=0.70); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +308.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816320 ms (missed cycles : 4).[0m +309.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149540 ms (missed cycles : 3).[0m +309.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.2 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +309.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786659283.66778660 seconds +310.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786659284.24107766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +310.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577858 ms (missed cycles : 3).[0m +310.42sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). +311.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377455 ms (missed cycles : 3).[0m +311.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 176.2 s (AMCL untrusted, spread=2.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +312.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102634 ms (missed cycles : 3).[0m +313.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277521 ms (missed cycles : 2).[0m +313.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 178.4 s (AMCL untrusted, spread=2.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +314.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146097 ms (missed cycles : 2).[0m +314.66sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). +314.71sINFOobjective_server_nodePath shortcutter: [X__________________X] +314.76sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). +314.84sINFOobjective_server_nodePath shortcutter: [X_______________________________X] +314.89sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). +315.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +315.15sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). +315.37sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). +315.49sINFOobjective_server_nodePath shortcutter: [X________________________________________X] +315.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858353 ms (missed cycles : 2).[0m +315.58sINFOobjective_server_nodeFound path in 31 iterations (0.0453037 s). +315.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 180.6 s (AMCL untrusted, spread=2.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +316.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X______X] +316.07sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). +316.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +316.59sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). +316.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587654 ms (missed cycles : 3).[0m +317.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________X] +317.40sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +317.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832157 ms (missed cycles : 3).[0m +317.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 182.6 s (AMCL untrusted, spread=2.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +318.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444387 ms (missed cycles : 4).[0m +319.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378341 ms (missed cycles : 3).[0m +320.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 184.8 s (AMCL untrusted, spread=3.84); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +320.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524606 ms (missed cycles : 4).[0m +321.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130098 ms (missed cycles : 4).[0m +322.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.0 s (AMCL untrusted, spread=1.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +322.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913888 ms (missed cycles : 2).[0m +323.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786659297.56973100 seconds +323.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739851 ms (missed cycles : 2).[0m +323.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659298.17225528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +324.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.0 s (AMCL untrusted, spread=1.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +324.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659298.83238220 seconds +324.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628581 ms (missed cycles : 3).[0m +325.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659299.40366030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +325.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659299.95380688 seconds +326.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +326.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414564 ms (missed cycles : 3).[0m +326.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.2 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +327.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023123 ms (missed cycles : 2).[0m +328.02sINFOros2_control_nodeMuJoCo sim: 2.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +328.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717572 ms (missed cycles : 4).[0m +328.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 193.2 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +329.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312814 ms (missed cycles : 3).[0m +330.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381900 ms (missed cycles : 3).[0m +330.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 195.4 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +331.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963912 ms (missed cycles : 2).[0m +331.49sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.50sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.50sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.51sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.51sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.52sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.52sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +331.55sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.55sERRORweb_video_auth_proxy-38process has died [pid 9842, 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']. +331.55sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.56sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.56sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +331.59sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.59sERRORweb_bridge_auth_proxy-37process has died [pid 9840, 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']. +331.60sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.60sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.60sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.61sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.61sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.62sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.62sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.62sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.63sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.63sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.64sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.64sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.65sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.66sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.66sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.67sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +331.70sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +331.74sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +331.78sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +331.81sINFOvideo_server-36process has finished cleanly [pid 9839] +331.81sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +331.84sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +331.87sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +331.91sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +331.93sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +331.94sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +331.97sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +332.00sINFOtf2_web_republisher_node-35process has finished cleanly [pid 9837] +332.01sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +332.05sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +332.09sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +332.13sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +332.15sINFOui_teleop_bridge-33process has finished cleanly [pid 9834] +332.17sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +332.17sINFOcomponent_container_mt-31process has finished cleanly [pid 9831] +332.17sERRORmove_group-24process has died [pid 9764, 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_ai8i1lwk --params-file /tmp/launch_params_v2b2tpul --params-file /tmp/launch_params_p_yo0oyu --params-file /tmp/launch_params_wy01ztf9 --params-file /tmp/launch_params_4t2sw2l6 --params-file /tmp/launch_params_bme9wg4s']. +332.19sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +332.20sINFOexecute_objective_bridge-32process has finished cleanly [pid 9832] +332.22sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +332.25sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] +332.28sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] +332.32sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] +332.35sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] +332.36sINFOobjective_server_node_main-29process has finished cleanly [pid 9808] +332.38sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +332.41sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +332.44sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +332.46sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +332.46sINFOvideo_server2026/08/13 22:15:05 INF shutting down gracefully +332.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +332.47sINFOvideo_server2026/08/13 22:15:05 INF [WebRTC] closing +332.47sINFOvideo_server2026/08/13 22:15:05 INF [RTSP] closing +332.47sINFOvideo_server2026/08/13 22:15:05 INF waiting for running hooks +332.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +332.47sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +332.47sINFOobjective_server_node[0;m[0m[INFO] [2026-08-13 22:15:06.862] signal_handler(SIGINT/SIGTERM)[0m +332.47sINFOcomponent_container_mtStopping planning scene monitor[0m +332.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +332.48sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +332.48sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +332.48sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +332.48sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +332.48sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +332.48sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +332.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +332.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid +332.48sERRORmove_groupStack trace (most recent call last) in thread 10453: +332.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +332.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f21333a63, in __clone +332.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f212a6aa3, in +332.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7f21538db3, in +332.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7f21ca9637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +332.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7f218ca620, in rclcpp::Rate::sleep() +332.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7f2180cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +332.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7f217ce087, in +332.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7f21507390, in __cxa_throw +332.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7f214f1a54, in std::terminate() +332.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7f215070d9, in +332.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7f214f1ff4, in +332.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f212328fe, in abort +332.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f2124f27d, in raise +332.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f212a8b2c, in pthread_kill +332.49sERRORmove_groupAborted (Signal sent by tkill() 9764 0) +332.49sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +332.49sINFOros2_control_nodeShutdown request received....[0m +332.49sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +332.49sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +332.49sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +332.49sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +332.49sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +332.49sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +332.49sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +332.49sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +332.49sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +332.49sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +332.49sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +332.49sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +332.49sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +332.49sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +332.49sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +332.49sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +332.49sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +332.49sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +332.49sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +332.49sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +332.49sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +332.49sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +332.49sINFOros2_control_nodeShutting down the controller manager.[0m +332.49sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +332.49sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +332.49sINFOobjective_server_node[2026-08-13 22:15:06.425] [moveit_pro_license] [critical] +332.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +332.50sWARNamcl_odom_gateamcl_odom_gate: latency-compensation target is newer than the odom buffer (odom TF lag exceeds latency_compensation_sec=0.30 s); clamped, under-compensating.[0m +332.50sERRORodom_qos_relay.pyTraceback (most recent call last): +332.50sINFOodom_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> +332.50sINFOodom_qos_relay.pymain() +332.50sINFOodom_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 +332.50sINFOodom_qos_relay.pyrclpy.spin(node) +332.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +332.50sINFOodom_qos_relay.pyexecutor.spin_once() +332.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +332.50sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +332.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +332.50sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +332.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +332.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +332.50sINFOodom_qos_relay.pyreturn next(self._cb_iter) +332.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +332.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +332.50sINFOodom_qos_relay.pyraise ExternalShutdownException() +332.50sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +332.50sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +332.50sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +332.50sINFOros2_control_nodeAsync messages lost 0[0m ×2 +332.50sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 +332.50sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +332.50sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +332.50sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +332.68sERRORcomponent_container_isolated-2process has died [pid 9664, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_opi_a_5f --params-file /tmp/launch_params_mur8fihg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +333.00sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 9807] +333.04sINFOmove_joint_resampler_node-27process has finished cleanly [pid 9805] +333.10sINFOcomponent_container_mt-30process has finished cleanly [pid 9827] +333.12sINFOwaypoint_manager_node-26process has finished cleanly [pid 9804] +333.12sINFOparameter_manager_node-25process has finished cleanly [pid 9801] +333.24sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 9750] +333.27sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 9671] +333.32sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 9751] +333.37sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 9670] +333.40sINFOslip_aware_odom-5process has finished cleanly [pid 9667] +333.40sERRORodom_qos_relay.py-7process has died [pid 9669, 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']. +333.45sINFOstatic_transform_publisher-3process has finished cleanly [pid 9665] +333.58sERRORcomponent_container_isolated-1process has died [pid 9663, exit code -11, 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_opi_a_5f --params-file /tmp/launch_params_fbiu2azc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +334.36sINFOamcl_odom_gate-6process has finished cleanly [pid 9668] +334.41sINFOodom_world_drift-4process has finished cleanly [pid 9666] +334.73sINFOweb_bridge-34process has finished cleanly [pid 9836] +334.73sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +334.87sINFOros2_control_node-12process has finished cleanly [pid 9752] +344.45sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-13-22-15-15-179271-96e6a5fc777a-13838 ×2 +358.37sINFOstatic_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' +358.40sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast. ×4 +358.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +358.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +358.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +358.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +358.69sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +358.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +358.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +358.71sINFOstate_estimatorReceived a set_pose request (stamp: 1786659332891991918, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +358.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +358.74sINFOcontroller_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. +358.74sINFOros2_control_node-12process started with pid [13977] ×2 +358.74sINFOmove_group-24process started with pid [13989] ×2 +358.74sINFOparameter_manager_node-25process started with pid [14025] ×2 +358.74sINFOwaypoint_manager_node-26process started with pid [14026] ×2 +358.74sINFOmove_joint_resampler_node-27process started with pid [14027] ×2 +358.74sINFOmove_end_effector_resampler_node-28process started with pid [14029] ×2 +358.74sINFOobjective_server_node_main-29process started with pid [14032] ×2 +358.75sINFOcomponent_container_mt-30process started with pid [14033] ×2 +358.75sINFOcomponent_container_mt-31process started with pid [14034] ×2 +358.75sINFOexecute_objective_bridge-32process started with pid [14035] ×2 +358.75sINFOui_teleop_bridge-33process started with pid [14037] ×2 +358.75sINFOweb_bridge-34process started with pid [14041] ×2 +358.75sINFOtf2_web_republisher_node-35process started with pid [14042] ×2 +358.75sINFOvideo_server-36process started with pid [14043] ×2 +358.75sINFOweb_bridge_auth_proxy-37process started with pid [14044] ×2 +358.75sINFOweb_video_auth_proxy-38process started with pid [14045] ×2 +358.76sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +358.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +358.77sINFOcomponent_container_isolated-1process started with pid [13888] ×2 +358.77sINFOcomponent_container_isolated-2process started with pid [13889] ×2 +358.77sINFOstatic_transform_publisher-3process started with pid [13890] ×2 +358.77sINFOodom_world_drift-4process started with pid [13891] ×2 +358.77sINFOslip_aware_odom-5process started with pid [13892] ×2 +358.77sINFOamcl_odom_gate-6process started with pid [13893] ×2 +358.77sINFOodom_qos_relay.py-7process started with pid [13894] ×2 +358.77sINFOforward_stereo_publisher.py-8process started with pid [13895] ×2 +358.77sINFOscan_to_scan_filter_chain-9process started with pid [13896] ×2 +358.77sINFOcontroller_managerupdate rate is 600 Hz +358.77sINFOscan_to_scan_filter_chain-10process started with pid [13975] ×2 +358.77sINFOcontroller_managerOverruns handling is : enabled +358.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +358.77sINFOfixed_lag_smoother_node-11process started with pid [13976] ×2 +358.77sWARNcontroller_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. +358.77sINFOros2-13process started with pid [13978] ×2 +358.77sINFOros2-14process started with pid [13979] ×2 +358.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396857 ms (missed cycles : 6). +358.80sINFOros2-15process started with pid [13980] ×2 +358.80sINFOros2-16process started with pid [13981] ×2 +358.80sINFOros2-17process started with pid [13982] ×2 +358.80sINFOros2-18process started with pid [13983] ×2 +358.80sINFOros2-19process started with pid [13984] ×2 +358.80sINFOros2-20process started with pid [13985] ×2 +358.81sINFOros2-21process started with pid [13986] ×2 +358.81sINFOros2-22process started with pid [13987] ×2 +358.81sINFOros2-23process started with pid [13988] ×2 +358.82sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +358.88sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +358.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +358.89sINFOcontroller_serverCreating controller server +358.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +358.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +358.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +358.94sINFOlocal_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. +358.94sINFOmap_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. +358.94sINFOmap_serverCreating +358.96sINFOlocal_costmap.local_costmapCreating Costmap +358.97sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +358.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +358.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +358.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +359.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +359.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +359.03sINFOsmoother_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. +359.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396857 ms (missed cycles : 6).[0m ×2 +359.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +359.07sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.07sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.07sINFOsmoother_serverCreating smoother server +359.09sINFOlifecycle_manager_localizationCreating +359.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +359.10sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +359.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +359.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +359.10sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +359.10sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +359.10sINFOmap_serverConfiguring +359.14sINFOplanner_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. +359.16sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +359.16sINFOplanner_serverCreating +359.16sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +359.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +359.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +359.21sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +359.22sINFOamclConfiguring +359.23sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +359.24sINFOmap_serverActivating +359.24sINFOmap_serverCreating bond (map_server) to lifecycle manager. +359.24sINFOglobal_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. +359.25sINFOglobal_costmap.global_costmapCreating Costmap +359.28sINFOcontroller_managerReceived robot description from topic. +359.28sINFOrobot_state_publisherRobot initialized +359.28sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +359.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +359.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +359.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +359.33sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +359.34sINFObehavior_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. +359.35sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +359.36sINFOlifecycle_manager_localizationServer map_server connected with bond. +359.36sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +359.37sINFOamclActivating +359.37sINFOamclSubscribed to initial_pose_topic: /initialpose +359.37sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +359.38sINFOamclSubscribed to map_topic: /map +359.38sINFOvideo_server2026/08/13 22:15:33 INF MediaMTX v1.19.3, linux, amd64 ×2 +359.38sINFOvideo_server2026/08/13 22:15:33 INF configuration loaded from /tmp/moveit-webrtc-7dj_j351/mediamtx.yml ×2 +359.38sINFOvideo_server2026/08/13 22:15:33 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +359.38sINFOvideo_server2026/08/13 22:15:33 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +359.38sINFOamclSubscribed to scan_topic: /scan_merged +359.38sINFOamclCreated reinitialize_global_localization service +359.38sINFOamclCreated request_nomotion_update service +359.38sINFOamclA new map was received +359.38sINFOamclInitializing particle filter instance +359.39sWARNlaser_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. +359.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +359.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +359.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +359.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +359.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +359.51sINFObt_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. +359.52sINFObt_navigatorCreating +359.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +359.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +359.54sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +359.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +359.55sWARNlaser_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. +359.59sINFOwaypoint_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. +359.60sINFOwaypoint_followerCreating +359.60sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.407013 seconds +359.60sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +359.60sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +359.60sINFOmove_groupLoaded robot model in 0.407013 seconds[0m ×2 +359.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +359.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +359.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +359.67sINFOvelocity_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. +359.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +359.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.73sINFOlifecycle_manager_navigationCreating +359.75sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +359.77sINFOamclParticle filter initialization completed +359.78sINFOamclInitializing particles from estimated pose and covariance +359.78sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +359.79sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +359.79sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +359.79sINFOcontroller_serverConfiguring controller interface +359.79sINFOcontroller_servergetting progress checker plugins.. +359.79sINFOcontroller_servergetting goal checker plugins.. +359.79sINFOcontroller_serverController frequency set to 20.0000Hz +359.79sINFOlocal_costmap.local_costmapConfiguring +359.82sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +359.84sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +359.87sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +359.87sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +359.87sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +359.87sINFOlifecycle_manager_localizationServer amcl connected with bond. +359.87sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +359.87sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +359.88sINFOamclThe bond connection to the lifecycle manager is now fully formed +359.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +359.93sINFOcontroller_serverController Server has progress_checker progress checkers available. +359.93sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +359.94sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +359.94sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +359.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168102 ms (missed cycles : 5). +359.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168102 ms (missed cycles : 5).[0m ×2 +359.96sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +359.98sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +359.98sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +359.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +359.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +359.99sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +359.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +360.00sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +360.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +360.01sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +360.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +360.02sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +360.03sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +360.03sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +360.03sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +360.03sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +360.04sINFOcontroller_serverOptimizer reset ×2 +360.05sINFOcontroller_serverController Server has FollowPath controllers available. +360.08sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +360.08sINFOsmoother_serverConfiguring smoother server +360.08sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +360.09sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +360.10sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +360.10sINFOplanner_serverConfiguring +360.10sINFOglobal_costmap.global_costmapConfiguring +360.12sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +360.14sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +360.14sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +360.14sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +360.15sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +360.17sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +360.17sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +360.18sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +360.22sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +360.22sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +360.22sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +360.22sINFOplanner_serverPlanner Server has GridBased planners available. +360.25sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +360.26sINFObehavior_serverConfiguring +360.28sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +360.28sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +360.29sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +360.30sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +360.31sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +360.33sINFObehavior_serverConfiguring spin +360.35sINFObehavior_serverConfiguring backup +360.36sINFObehavior_serverConfiguring drive_on_heading +360.37sINFObehavior_serverConfiguring assisted_teleop +360.40sINFObehavior_serverConfiguring wait +360.41sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +360.41sINFObt_navigatorConfiguring +360.43sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +360.44sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +360.52sINFOwaypoint_manager_nodeLoaded robot model in 0.410874 seconds[0m ×2 +360.65sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +360.76sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +360.76sINFOwaypoint_followerConfiguring +360.80sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +360.81sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +360.81sINFOvelocity_smootherConfiguring velocity smoother +360.82sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +360.82sINFOcontroller_serverActivating +360.82sINFOlocal_costmap.local_costmapActivating +360.82sINFOlocal_costmap.local_costmapChecking transform +360.82sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×10 +360.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +360.84sWARNmove_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. +360.84sWARNmove_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. +360.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.84sWARNmove_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. +360.85sWARNmove_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. +360.85sWARNmove_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. +360.85sWARNmove_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. +360.85sWARNmove_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. +360.85sWARNmove_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. +360.86sWARNmove_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. +360.90sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +361.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499323 ms (missed cycles : 7). +361.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499323 ms (missed cycles : 7).[0m ×2 +361.23sINFOmove_group[2026-08-13 22:15:35.401] [moveit_pro_license] [info] ×2 +361.25sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +361.25sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +361.30sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.57sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.58sWARNwaypoint_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. +361.59sWARNwaypoint_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. +361.59sWARNwaypoint_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. +361.59sWARNwaypoint_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. +361.59sWARNwaypoint_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. +361.60sWARNwaypoint_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. +361.60sWARNwaypoint_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. +361.60sWARNwaypoint_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. +361.60sWARNwaypoint_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. +361.60sWARNwaypoint_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. +361.61sWARNwaypoint_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. +361.61sWARNwaypoint_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. +361.61sWARNwaypoint_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. +361.61sWARNwaypoint_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. +361.74sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +361.74sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +361.74sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +361.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +361.74sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +361.75sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +361.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +361.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +361.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +361.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +361.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +362.00sINFOwaypoint_manager_node[2026-08-13 22:15:36.175] [moveit_pro_license] [info] ×2 +362.26sINFOobjective_server_node[2026-08-13 22:15:36.441] [moveit_pro_license] [info] ×2 +362.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +362.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. +362.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +362.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +362.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417919 ms (missed cycles : 2). +362.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417919 ms (missed cycles : 2).[0m ×2 +362.35sINFOobjective_server_nodeLoaded robot model in 0.0327318 seconds[0m ×2 +362.35sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +362.35sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +362.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +362.56sINFOcontroller_managerLoading controller 'vacuum_gripper' +362.57sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +362.57sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +362.59sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +362.60sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +362.60sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +362.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +362.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +362.62sINFOcontroller_managerSuccessfully switched controllers! ×7 +362.63sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +362.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +362.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +362.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +362.82sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.82sWARNobjective_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. +362.83sWARNobjective_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. +362.83sWARNobjective_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. +362.83sWARNobjective_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. +362.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +362.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +362.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +362.87sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +362.90sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +362.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +362.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +362.90sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +362.90sINFOstreaming_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) +362.91sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +362.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +362.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +362.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +362.97sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +362.98sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +362.98sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +362.99sINFOros2-17process has finished cleanly [pid 13982] ×2 +363.04sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +363.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +363.05sINFOplatform_velocity_controller_nav2configure successful +363.14sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +363.14sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +363.16sINFOstreaming_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) +363.17sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +363.27sINFOcomponent_container_mtLoaded robot model in 0.308002 seconds[0m ×2 +363.46sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +363.46sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +363.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294368 ms (missed cycles : 2). +363.46sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +363.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294368 ms (missed cycles : 2).[0m ×2 +363.46sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +363.50sINFOros2-18process has finished cleanly [pid 13983] ×2 +363.52sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +363.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +363.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +363.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +363.56sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786659336.618 for reason 'discarding message because the queue is full' +363.64sINFOmove_groupMoveGroup debug mode is ON +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.67sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.68sWARNplanning_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. +363.69sWARNplanning_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. +363.69sWARNplanning_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. +363.69sWARNplanning_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. +363.69sWARNplanning_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. +363.84sINFOmove_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
********************************************************
+363.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +363.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +363.88sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +363.88sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +363.89sINFOros2-14process has finished cleanly [pid 13979] ×2 +363.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +363.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +363.98sINFOforce_torque_sensor_broadcasterconfigure successful +363.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +363.99sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +364.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +364.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +364.34sINFOros2-13process has finished cleanly [pid 13978] ×2 +364.41sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +364.41sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +364.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319710 ms (missed cycles : 2). +364.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319710 ms (missed cycles : 2).[0m ×2 +364.48sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +364.48sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +364.92sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +364.97sINFOcomponent_container_mt[2026-08-13 22:15:39.147] [moveit_pro_license] [info] ×2 +364.99sINFOros2_control_node[2026-08-13 22:15:39.166] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +364.99sINFOros2_control_node[2026-08-13 22:15:39.169] [info] Controller state will be published at 10 Hz. ×2 +364.99sINFOros2_control_node[2026-08-13 22:15:39.170] [info] VelocityForceController 'on_configure' succeeded. ×2 +365.35sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +365.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +365.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +365.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +365.38sINFOros2-21process has finished cleanly [pid 13986] ×2 +365.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +365.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +365.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +365.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +365.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +365.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800208 ms (missed cycles : 2). +365.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800208 ms (missed cycles : 2).[0m ×2 +365.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.473ms +365.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +365.76sINFOcontroller_managerLoading controller 'velocity_force_controller' +365.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +365.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +365.80sINFOros2-15process has finished cleanly [pid 13980] ×2 +365.82sINFOlocal_costmap.local_costmapstart +365.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +365.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +365.92sWARNcontroller_serverParameter controller_server.verbose not found +365.92sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +365.93sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +366.03sINFOlifecycle_manager_navigationServer controller_server connected with bond. +366.03sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +366.03sINFOsmoother_serverActivating +366.03sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +366.06sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786659339.118 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +366.14sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +366.14sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +366.14sINFOplanner_serverActivating +366.14sINFOglobal_costmap.global_costmapActivating +366.14sINFOglobal_costmap.global_costmapChecking transform +366.14sINFOglobal_costmap.global_costmapstart +366.28sINFOros2_control_node[2026-08-13 22:15:40.459] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +366.28sINFOros2_control_node[2026-08-13 22:15:40.461] [info] Controller state will be published at 10 Hz. ×2 +366.28sINFOros2_control_node[2026-08-13 22:15:40.462] [info] VelocityForceController 'on_configure' succeeded. ×2 +366.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520568 ms (missed cycles : 3). +366.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520568 ms (missed cycles : 3).[0m ×2 +366.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +366.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +366.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +366.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +366.68sINFOros2-20process has finished cleanly [pid 13985] ×2 +366.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +366.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +366.75sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +366.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +366.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +366.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +366.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +366.92sWARNslip_aware_odomslip_aware_odom: active source has been silent for 8.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +366.92sWARNslip_aware_odomslip_aware_odom: active source has been silent for 8.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 +367.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +367.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' +367.12sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +367.12sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +367.14sINFOros2-19process has finished cleanly [pid 13984] ×2 +367.19sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +367.19sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +367.20sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +367.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +367.21sINFOplatform_velocity_controllerconfigure successful +367.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +367.22sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +367.30sINFOlifecycle_manager_navigationServer planner_server connected with bond. +367.30sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +367.30sINFObehavior_serverActivating +367.30sINFObehavior_serverActivating spin +367.30sINFObehavior_serverActivating backup +367.30sINFObehavior_serverActivating drive_on_heading +367.30sINFObehavior_serverActivating assisted_teleop +367.30sINFObehavior_serverActivating wait +367.30sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +367.40sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +367.40sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +367.41sINFObt_navigatorActivating +367.48sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +367.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166643 ms (missed cycles : 4). +367.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166643 ms (missed cycles : 4).[0m ×2 +367.58sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +367.58sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +367.58sINFOwaypoint_followerActivating +367.58sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +367.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +367.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +367.62sINFOros2-16process has finished cleanly [pid 13981] ×2 +367.68sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +367.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +367.69sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +367.69sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +367.69sINFOvelocity_smootherActivating +367.69sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +367.75sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +367.75sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +367.75sWARNstate_estimatorOptimization exceeded the configured duration by 23961547ns +367.80sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +367.80sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +367.80sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +368.23sINFOros2_control_node[2026-08-13 22:15:42.411] [info] Controller state will be published at 20 Hz. ×2 +368.23sINFOros2_control_node[2026-08-13 22:15:42.412] [info] JointVelocityController 'on_configure' succeeded. ×2 +368.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781377 ms (missed cycles : 2). +368.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781377 ms (missed cycles : 2).[0m ×2 +368.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +368.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' +368.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb +368.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbrrcx_o --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_1twuqp5k --params-file /tmp/launch_params_yl5wxtlb [0m ×2 +368.63sINFOros2-23process has finished cleanly [pid 13988] ×2 +368.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +368.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +369.27sINFOros2_control_node[2026-08-13 22:15:43.448] [info] Controller state will be published at 20 Hz. ×2 +369.27sINFOros2_control_node[2026-08-13 22:15:43.450] [info] JointVelocityController 'on_configure' succeeded. ×2 +369.64sINFOros2-22process has finished cleanly [pid 13987] ×2 +369.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388461 ms (missed cycles : 3). +369.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388461 ms (missed cycles : 3).[0m ×2 +370.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). +370.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 +371.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). +371.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 +372.36sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +372.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). +372.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 +374.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). +374.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 +374.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +374.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +374.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +374.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 +375.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +375.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 +375.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). +375.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 +375.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +375.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 +376.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). +376.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 +376.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +376.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +376.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +376.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +376.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +376.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +376.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +376.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 | ||||
▾
/__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 | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 6.93sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 7.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026710 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022666 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675195 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561032 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732718 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786659348.69160700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786659348.70181775 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786659349.25924420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786659349.26936388 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678475 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786659349.82038426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786659349.97101903 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278180 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786659350.55609560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786659350.61623287 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786659351.17427278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188675 ms (missed cycles : 2).[0m ×2 + 5.87sWARNstate_estimatorOptimization exceeded the configured duration by 34830766ns + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||