MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.0s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.6s	12 errors · 334 warnings · 1396 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/2026-08-26-00-38-52-185214-ee696a948f94-9549 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 14.02sINFOstatic_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' + 14.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.06sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast. ×3 + 14.06sINFOcontroller_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. + 14.08sINFOcontroller_serverCreating controller server + 14.08sINFOlocal_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. + 14.09sINFOlocal_costmap.local_costmapCreating Costmap + 14.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.10sINFOsmoother_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. + 14.11sINFOsmoother_serverCreating smoother server + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.12sINFOplanner_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. + 14.13sINFOplanner_serverCreating + 14.13sINFOglobal_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. + 14.14sINFOglobal_costmap.global_costmapCreating Costmap + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.16sINFObehavior_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. + 14.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.36sINFObt_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. + 14.37sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.38sINFOros2_control_node-12process started with pid [9691] ×2 + 14.38sINFOmove_group-24process started with pid [9706] ×2 + 14.38sINFOparameter_manager_node-25process started with pid [9739] ×2 + 14.38sINFOwaypoint_manager_node-26process started with pid [9740] ×2 + 14.38sINFOmove_joint_resampler_node-27process started with pid [9741] ×2 + 14.38sINFOmove_end_effector_resampler_node-28process started with pid [9742] ×2 + 14.38sINFOobjective_server_node_main-29process started with pid [9744] ×2 + 14.38sINFOcomponent_container_mt-30process started with pid [9745] ×2 + 14.38sINFOcomponent_container_mt-31process started with pid [9748] ×2 + 14.38sINFOexecute_objective_bridge-32process started with pid [9751] ×2 + 14.38sINFOui_teleop_bridge-33process started with pid [9755] ×2 + 14.38sINFOweb_bridge-34process started with pid [9756] ×2 + 14.38sINFOtf2_web_republisher_node-35process started with pid [9757] ×2 + 14.38sINFOvideo_server-36process started with pid [9758] ×2 + 14.39sINFOstate_estimatorReceived a set_pose request (stamp: 1787704750165961106, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 14.40sINFOweb_bridge_auth_proxy-37process started with pid [9759] ×2 + 14.40sINFOweb_video_auth_proxy-38process started with pid [9760] ×2 + 14.41sINFObt_navigatorCreating + 14.41sINFOcomponent_container_isolated-1process started with pid [9599] ×2 + 14.41sINFOcomponent_container_isolated-2process started with pid [9600] ×2 + 14.41sINFOstatic_transform_publisher-3process started with pid [9601] ×2 + 14.41sINFOodom_world_drift-4process started with pid [9602] ×2 + 14.41sINFOslip_aware_odom-5process started with pid [9603] ×2 + 14.41sINFOamcl_odom_gate-6process started with pid [9604] ×2 + 14.41sINFOodom_qos_relay.py-7process started with pid [9605] ×2 + 14.42sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.43sINFOforward_stereo_publisher.py-8process started with pid [9606] ×2 + 14.43sINFOscan_to_scan_filter_chain-9process started with pid [9607] ×2 + 14.43sINFOscan_to_scan_filter_chain-10process started with pid [9689] ×2 + 14.43sINFOfixed_lag_smoother_node-11process started with pid [9690] ×2 + 14.43sINFOros2-13process started with pid [9692] ×2 + 14.43sINFOros2-14process started with pid [9693] ×2 + 14.43sINFOros2-15process started with pid [9694] ×2 + 14.43sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.43sINFOros2-16process started with pid [9695] ×2 + 14.43sINFOros2-17process started with pid [9696] ×2 + 14.43sINFOros2-18process started with pid [9698] ×2 + 14.43sINFOros2-19process started with pid [9699] ×2 + 14.43sINFOros2-20process started with pid [9700] ×2 + 14.43sINFOros2-21process started with pid [9701] ×2 + 14.43sINFOros2-22process started with pid [9702] ×2 + 14.44sINFOros2-23process started with pid [9705] ×2 + 14.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.45sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.45sINFOcontroller_managerupdate rate is 600 Hz + 14.45sINFOcontroller_managerOverruns handling is : enabled + 14.45sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.45sWARNcontroller_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. + 14.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.50sINFOwaypoint_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. + 14.50sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. + 14.51sINFOwaypoint_followerCreating + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064249 ms (missed cycles : 2). + 14.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 14.53sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.60sINFOvelocity_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. + 14.60sINFOmap_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. + 14.61sINFOmap_serverCreating + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.64sINFOrobot_state_publisherRobot initialized + 14.64sINFOcontroller_managerReceived robot description from topic. + 14.64sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.65sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.66sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×2 + 14.66sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×2 + 14.66sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 14.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 14.66sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.70sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast.[0m ×6 + 14.70sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.70sINFOlifecycle_manager_navigationCreating + 14.70sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.72sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.73sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.73sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.73sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.73sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.73sWARNros2_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 ×2 + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064249 ms (missed cycles : 2).[0m ×2 + 14.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.74sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.74sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.74sINFOcontroller_serverConfiguring controller interface + 14.74sINFOcontroller_servergetting progress checker plugins.. + 14.74sINFOcontroller_servergetting goal checker plugins.. + 14.74sINFOcontroller_serverController frequency set to 20.0000Hz + 14.74sINFOlocal_costmap.local_costmapConfiguring + 14.76sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.77sWARNslip_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 ×2 + 14.77sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.79sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.79sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.83sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.83sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.83sINFOlifecycle_manager_localizationCreating + 14.84sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.84sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.86sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.87sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.87sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.87sINFOmap_serverConfiguring + 14.90sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.91sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.92sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.92sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.93sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.97sINFOamclConfiguring + 14.97sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.97sINFOmap_serverActivating + 14.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.98sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.98sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.00sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.00sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 15.00sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.01sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.01sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.03sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.03sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.03sINFOcontroller_serverOptimizer reset ×2 + 15.04sWARNlaser_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. + 15.04sWARNscan_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 ×4 + 15.04sINFOcontroller_serverController Server has FollowPath controllers available. + 15.09sINFOlifecycle_manager_localizationServer map_server connected with bond. + 15.09sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 15.09sINFOamclActivating + 15.09sINFOamclSubscribed to initial_pose_topic: /initialpose + 15.09sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 15.10sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.10sINFOsmoother_serverConfiguring smoother server + 15.12sINFOamclSubscribed to map_topic: /map + 15.12sINFOamclSubscribed to scan_topic: /scan_merged + 15.12sINFOamclCreated reinitialize_global_localization service + 15.12sINFOamclCreated request_nomotion_update service + 15.13sINFOamclA new map was received + 15.13sINFOamclInitializing particle filter instance + 15.13sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.14sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.15sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.15sINFOplanner_serverConfiguring + 15.15sINFOglobal_costmap.global_costmapConfiguring + 15.17sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.18sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.18sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.18sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.19sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.20sWARNlaser_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. + 15.23sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.23sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.24sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.28sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.29sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.29sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.31sINFOplanner_serverPlanner Server has GridBased planners available. + 15.34sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.34sINFObehavior_serverConfiguring + 15.34sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.35sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.36sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.36sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.37sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.38sINFObehavior_serverConfiguring spin + 15.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.50401 seconds + 15.40sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.40sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.40sINFObehavior_serverConfiguring backup + 15.40sINFOmove_groupLoaded robot model in 0.50401 seconds[0m ×2 + 15.40sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.40sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.41sINFObehavior_serverConfiguring drive_on_heading + 15.43sINFObehavior_serverConfiguring assisted_teleop + 15.44sINFObehavior_serverConfiguring wait + 15.45sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.45sINFObt_navigatorConfiguring + 15.46sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.48sWARNbt_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 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116180 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116180 ms (missed cycles : 3).[0m ×2 + 15.54sINFOvideo_server2026/08/26 00:39:11 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.54sINFOvideo_server2026/08/26 00:39:11 INF configuration loaded from /tmp/moveit-webrtc-ruc_5th_/mediamtx.yml ×2 + 15.54sINFOvideo_server2026/08/26 00:39:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.54sINFOvideo_server2026/08/26 00:39:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.79sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.92sINFOamclParticle filter initialization completed + 15.92sINFOamclInitializing particles from estimated pose and covariance + 15.93sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 15.95sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.95sINFOwaypoint_followerConfiguring + 16.00sINFOlifecycle_manager_localizationServer amcl connected with bond. + 16.00sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 16.00sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 16.00sINFOwaypoint_manager_nodeLoaded robot model in 0.342559 seconds[0m ×2 + 16.00sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.00sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.04sINFOamclThe bond connection to the lifecycle manager is now fully formed + 16.05sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.06sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.06sINFOvelocity_smootherConfiguring velocity smoother + 16.07sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.07sINFOcontroller_serverActivating + 16.07sINFOlocal_costmap.local_costmapActivating + 16.07sINFOlocal_costmap.local_costmapChecking transform + 16.07sINFOlocal_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 ×8 + 16.28sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.28sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.28sWARNmove_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. + 16.28sWARNmove_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. + 16.28sWARNmove_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. + 16.28sWARNmove_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. + 16.28sWARNmove_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. + 16.28sWARNmove_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. + 16.29sWARNmove_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. + 16.29sWARNmove_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. + 16.29sWARNmove_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. + 16.29sWARNmove_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. + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.30sWARNmove_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 ×2 + 16.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 16.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 + 16.83sINFOmove_group[2026-08-26 00:39:12.594] [moveit_pro_license] [info] ×2 + 16.83sINFOmove_group************************************************* ×4 + 16.83sINFOmove_group* MoveIt Pro License ×2 + 16.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.85sWARNwaypoint_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. + 16.85sWARNwaypoint_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. + 16.85sWARNwaypoint_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 ×2 + 16.85sWARNwaypoint_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 ×2 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 ×2 + 16.86sWARNwaypoint_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 ×2 + 16.87sWARNwaypoint_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. + 16.87sWARNwaypoint_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. + 16.87sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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 ×2 + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.89sWARNwaypoint_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. + 16.90sWARNwaypoint_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. + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNwaypoint_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 ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113705 ms (missed cycles : 5). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113705 ms (missed cycles : 5).[0m ×2 + 16.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 17.36sINFOwaypoint_manager_node[2026-08-26 00:39:13.134] [moveit_pro_license] [info] ×2 + 17.36sINFOwaypoint_manager_node************************************************* ×4 + 17.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.37sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.37sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.37sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.37sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.38sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.38sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.38sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.38sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.38sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.38sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.38sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.38sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.39sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.39sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.39sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.39sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.40sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.40sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.90sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.91sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 18.24sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 18.24sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 18.24sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 18.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 18.24sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 18.24sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 18.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 18.24sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 18.25sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 18.25sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 18.25sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 18.25sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 18.25sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 18.25sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.25sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 18.25sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 18.25sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 18.25sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 18.25sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 18.25sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 18.25sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.25sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 18.25sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 18.25sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 18.25sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 18.25sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 18.25sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 18.25sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 18.25sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 18.25sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 18.25sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 18.25sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 18.25sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 18.25sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 18.25sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 18.25sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 18.25sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 18.25sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 18.25sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672722 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672722 ms (missed cycles : 2).[0m ×2 + 18.28sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.28sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.28sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 18.39sINFOobjective_server_node[2026-08-26 00:39:14.163] [moveit_pro_license] [info] ×2 + 18.39sINFOobjective_server_node************************************************* ×4 + 18.39sINFOobjective_server_node* MoveIt Pro License ×2 + 18.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 18.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.50sINFOobjective_server_nodeLoaded robot model in 0.0343727 seconds[0m ×2 + 18.50sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.50sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 18.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 + 18.54sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.58sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.58sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.58sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.58sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.59sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.71sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.72sWARNcomponent_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 ×2 + 18.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.75sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.75sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.76sINFOstreaming_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) + 18.76sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.76sINFOcomponent_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 ×2 + 18.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 18.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 18.95sINFOros2-19process has finished cleanly [pid 9699] ×2 + 18.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 18.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.00sINFOforce_torque_sensor_broadcasterconfigure successful + 19.00sINFOros2_control_nodeconfigure successful[0m ×6 + 19.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.01sINFOcontroller_managerSuccessfully switched controllers! ×19 + 19.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 19.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.02sINFOstreaming_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) + 19.02sINFOcomponent_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 ×2 + 19.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 19.09sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 19.09sWARNobjective_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. + 19.09sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 19.09sWARNobjective_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. + 19.09sWARNobjective_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. + 19.09sWARNobjective_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. + 19.09sWARNobjective_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. + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.10sWARNobjective_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. + 19.10sWARNobjective_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. + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNobjective_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 ×2 + 19.10sWARNobjective_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 ×2 + 19.15sINFOcomponent_container_mtLoaded robot model in 0.425738 seconds[0m ×2 + 19.15sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.15sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.18sINFOobjective_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. ×2 + 19.18sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.21sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.34sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.34sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 19.34sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694068 ms (missed cycles : 2). + 19.36sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694068 ms (missed cycles : 2).[0m ×2 + 19.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.40sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.40sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.40sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.40sINFOros2-13process has finished cleanly [pid 9692] ×2 + 19.40sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.40sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.42sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.42sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.49sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787704754.140 for reason 'discarding message because the queue is full' + 19.69sWARNplanning_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. + 19.70sWARNcomponent_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 ×2 + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNcomponent_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 ×2 + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNcomponent_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 ×2 + 19.70sWARNcomponent_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 ×2 + 19.70sWARNplanning_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. + 19.70sWARNplanning_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. + 19.70sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNcomponent_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 ×2 + 19.71sWARNplanning_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. + 19.71sWARNplanning_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. + 19.71sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNplanning_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. + 19.72sWARNplanning_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. + 19.72sWARNplanning_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. + 19.72sWARNplanning_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. + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.72sWARNcomponent_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 ×2 + 19.73sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.73sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 19.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 19.81sINFOros2-17process has finished cleanly [pid 9696] ×2 + 19.83sINFOmove_groupMoveGroup debug mode is ON + 19.83sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.83sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.88sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.88sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.88sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.89sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.89sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.93sINFOcomponent_container_mt[2026-08-26 00:39:15.698] [moveit_pro_license] [info] ×2 + 19.93sINFOcomponent_container_mt************************************************* ×4 + 19.93sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.93sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.98sINFOmove_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 ****************************************************** + 19.99sINFOmove_group ×8 + 19.99sINFOmove_group****************************************************** ×4 + 19.99sINFOmove_group* MoveGroup using: ×2 + 19.99sINFOmove_group* - apply_planning_scene_service ×2 + 19.99sINFOmove_group* - clear_octomap_service ×2 + 19.99sINFOmove_group* - get_group_urdf ×2 + 19.99sINFOmove_group* - load_geometry_from_file ×2 + 19.99sINFOmove_group* - get_planning_scene_service ×2 + 19.99sINFOmove_group* - kinematics_service ×2 + 19.99sINFOmove_group* - save_geometry_to_file ×2 + 19.99sINFOmove_group* - GetPlanningGroups ×2 + 19.99sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.99sINFOmove_group[0m ×2 + 19.99sINFOmove_group[92mYou can start planning now![0m ×2 + 20.07sINFOlocal_costmap.local_costmapstart + 20.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.366ms + 20.18sWARNcontroller_serverParameter controller_server.verbose not found + 20.18sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.18sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.21sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.21sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.21sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.21sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.22sWARNros2_control_nodeCamera render tick took 0.71 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.25sINFOros2-15process has finished cleanly [pid 9694] ×2 + 20.28sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.28sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.28sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.28sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.29sINFOsmoother_serverActivating + 20.29sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.32sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 20.32sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 20.38sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.38sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.38sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.39sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.39sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.39sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.39sINFOplanner_serverActivating + 20.39sINFOglobal_costmap.global_costmapActivating + 20.39sINFOglobal_costmap.global_costmapChecking transform + 20.39sINFOglobal_costmap.global_costmapstart + 20.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 20.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603721 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603721 ms (missed cycles : 3).[0m ×2 + 20.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.54sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 20.54sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 + 20.91sINFOros2_control_node[2026-08-26 00:39:16.679] [info] Controller state will be published at 20 Hz. ×2 + 20.91sINFOros2_control_node[2026-08-26 00:39:16.680] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.98sWARNobjective_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/. ×2 + 21.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.30sINFOros2-23process has finished cleanly [pid 9705] ×2 + 21.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 21.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 21.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 21.44sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485987 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485987 ms (missed cycles : 3).[0m ×2 + 21.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.55sINFObehavior_serverActivating + 21.55sINFObehavior_serverActivating spin + 21.55sINFObehavior_serverActivating backup + 21.55sINFObehavior_serverActivating drive_on_heading + 21.55sINFObehavior_serverActivating assisted_teleop + 21.55sINFObehavior_serverActivating wait + 21.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.66sINFObt_navigatorActivating + 21.73sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.83sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.83sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.83sINFOwaypoint_followerActivating + 21.83sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.94sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.94sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.94sINFOvelocity_smootherActivating + 21.94sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.95sINFOros2_control_node[2026-08-26 00:39:17.717] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.95sINFOros2_control_node[2026-08-26 00:39:17.720] [info] Controller state will be published at 10 Hz. ×2 + 21.95sINFOros2_control_node[2026-08-26 00:39:17.722] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.04sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.04sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.04sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 22.30sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.30sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.31sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 22.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 22.36sINFOros2-20process has finished cleanly [pid 9700] ×2 + 22.38sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.38sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.38sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.39sINFOplatform_velocity_controller_nav2configure successful + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779462 ms (missed cycles : 3). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779462 ms (missed cycles : 3).[0m ×2 + 22.54sWARNslip_aware_odomslip_aware_odom: active source has been silent for 8.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 22.54sWARNslip_aware_odomslip_aware_odom: active source has been silent for 8.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 + 22.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 22.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 22.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 22.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 22.77sINFOros2-18process has finished cleanly [pid 9698] ×2 + 22.79sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 22.79sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 22.79sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 22.79sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 22.80sINFOplatform_velocity_controllerconfigure successful + 22.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 22.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 22.80sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 22.81sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 23.15sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.15sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 23.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 23.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 23.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 23.21sINFOros2-16process has finished cleanly [pid 9695] ×2 + 23.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 23.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 23.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 23.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797164 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797164 ms (missed cycles : 3).[0m ×2 + 23.77sINFOros2_control_node[2026-08-26 00:39:19.544] [info] Controller state will be published at 20 Hz. ×2 + 23.77sINFOros2_control_node[2026-08-26 00:39:19.545] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.17sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 24.17sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 24.17sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 24.17sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 24.17sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 24.17sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 24.18sINFOros2-22process has finished cleanly [pid 9702] ×2 + 24.24sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 24.24sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 24.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 24.24sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 24.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 24.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 24.25sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 24.25sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 24.47sWARNstate_estimatorOptimization exceeded the configured duration by 38431731ns + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779240 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779240 ms (missed cycles : 2).[0m ×2 + 24.63sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 24.63sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 24.63sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 24.64sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 24.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 + 24.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eyize9_7 --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__95hiuja --params-file /tmp/launch_params_oj3cwkg5 [0m ×2 + 24.66sINFOros2-14process has finished cleanly [pid 9693] ×2 + 24.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 24.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 24.73sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 24.73sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 25.27sINFOros2_control_node[2026-08-26 00:39:21.042] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 25.27sINFOros2_control_node[2026-08-26 00:39:21.044] [info] Controller state will be published at 10 Hz. ×2 + 25.27sINFOros2_control_node[2026-08-26 00:39:21.045] [info] VelocityForceController 'on_configure' succeeded. ×2 + 25.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 25.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 25.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054394 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054394 ms (missed cycles : 4).[0m ×2 + 25.66sINFOros2-21process has finished cleanly [pid 9701] ×2 + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 28.29sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 30.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.59sINFOmove_groupClearing octomap...[0m ×2 + 30.59sINFOmove_groupOctomap cleared.[0m ×2 + 30.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 31.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 31.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 32.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.58sINFOobjective_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 + 32.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	75.6s	3 errors · 519 warnings · 353 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 0.50sWARNglobal_costmap.global_costmapSensor origin at (27.70, 37.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.50sWARNglobal_costmap.global_costmapSensor origin at (27.47, 37.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.749ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958910 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958910 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.475ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.241ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sWARNglobal_costmap.global_costmapSensor origin at (28.12, 37.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.50sWARNglobal_costmap.global_costmapSensor origin at (27.88, 38.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988674 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988674 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 2.50sWARNglobal_costmap.global_costmapSensor origin at (28.55, 37.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.50sWARNglobal_costmap.global_costmapSensor origin at (28.34, 38.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147515 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147515 ms (missed cycles : 4).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 3.50sWARNglobal_costmap.global_costmapSensor origin at (28.98, 37.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sWARNglobal_costmap.global_costmapSensor origin at (28.78, 38.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.353ms + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026277 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026277 ms (missed cycles : 3).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms ×2 + 4.32sINFOobjective_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 + 4.32sINFOjoint_trajectory_controllerGot request to cancel goal + 4.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.34sERRORobjective_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: 1787704979.00211358 seconds ×3 + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.50sWARNglobal_costmap.global_costmapSensor origin at (30.57, 38.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.50sWARNglobal_costmap.global_costmapSensor origin at (30.33, 39.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.959ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.820ms + 4.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787704979.59224653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475361 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475361 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 5.50sWARNglobal_costmap.global_costmapSensor origin at (29.43, 38.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.50sWARNglobal_costmap.global_costmapSensor origin at (29.25, 39.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333477 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333477 ms (missed cycles : 4).[0m ×2 + 6.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274361 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274361 ms (missed cycles : 4).[0m ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.33sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.33sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.33sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.50sWARNglobal_costmap.global_costmapSensor origin at (29.43, 38.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334766 ms (missed cycles : 4). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334766 ms (missed cycles : 4).[0m ×2 + 8.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.8 s (AMCL untrusted, spread=1.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.8 s (AMCL untrusted, spread=1.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.50sWARNglobal_costmap.global_costmapSensor origin at (29.50, 38.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.50sWARNglobal_costmap.global_costmapSensor origin at (29.28, 39.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.461ms + 9.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.767ms + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653769 ms (missed cycles : 4). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653769 ms (missed cycles : 4).[0m ×2 + 9.30sWARNstate_estimatorOptimization exceeded the configured duration by 54243702ns + 9.50sWARNglobal_costmap.global_costmapSensor origin at (29.77, 38.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.50sWARNglobal_costmap.global_costmapSensor origin at (29.53, 39.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.335ms + 9.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.870ms + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.837ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977899 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977899 ms (missed cycles : 3).[0m ×2 + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.0 s (AMCL untrusted, spread=1.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.0 s (AMCL untrusted, spread=1.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.767ms + 10.50sWARNglobal_costmap.global_costmapSensor origin at (30.18, 38.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.50sWARNglobal_costmap.global_costmapSensor origin at (29.97, 39.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.093ms + 10.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.788ms + 11.20sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 4.905ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943727 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943727 ms (missed cycles : 3).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 5.034ms + 11.50sWARNglobal_costmap.global_costmapSensor origin at (30.63, 38.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.50sWARNglobal_costmap.global_costmapSensor origin at (30.42, 39.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.70sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 4.297ms + 11.90sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 6.379ms + 12.10sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.520ms + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837311 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837311 ms (missed cycles : 3).[0m ×2 + 12.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.0 s (AMCL untrusted, spread=1.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.0 s (AMCL untrusted, spread=1.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 5.482ms + 12.50sWARNglobal_costmap.global_costmapSensor origin at (31.06, 39.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.50sWARNglobal_costmap.global_costmapSensor origin at (30.86, 39.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.70sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.841ms + 13.00sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 6.665ms + 13.20sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 4.098ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887483 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887483 ms (missed cycles : 3).[0m ×2 + 13.50sWARNglobal_costmap.global_costmapSensor origin at (31.47, 39.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.50sWARNglobal_costmap.global_costmapSensor origin at (31.25, 40.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.50sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 7.267ms + 13.70sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 6.819ms + 14.00sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 5.591ms + 14.30sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 6.760ms + 14.50sWARNglobal_costmap.global_costmapSensor origin at (31.93, 39.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.50sWARNglobal_costmap.global_costmapSensor origin at (31.72, 40.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.50sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.143ms + 14.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.2 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.2 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135243 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135243 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.450ms + 15.10sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 4.327ms + 15.30sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 3.410ms + 15.50sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.310ms + 15.50sWARNglobal_costmap.global_costmapSensor origin at (32.36, 39.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.50sWARNglobal_costmap.global_costmapSensor origin at (32.16, 40.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090683 ms (missed cycles : 5). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090683 ms (missed cycles : 5).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.500ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 16.50sWARNglobal_costmap.global_costmapSensor origin at (32.80, 40.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.50sWARNglobal_costmap.global_costmapSensor origin at (32.56, 40.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279779 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279779 ms (missed cycles : 4).[0m ×2 + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.4 s (AMCL untrusted, spread=0.89); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.4 s (AMCL untrusted, spread=0.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.131ms + 17.50sWARNglobal_costmap.global_costmapSensor origin at (33.23, 40.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.50sWARNglobal_costmap.global_costmapSensor origin at (33.02, 41.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.350ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799776 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799776 ms (missed cycles : 3).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.638ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 18.50sWARNglobal_costmap.global_costmapSensor origin at (33.68, 40.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.50sWARNglobal_costmap.global_costmapSensor origin at (33.45, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668008 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668008 ms (missed cycles : 3).[0m ×2 + 18.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 19.50sWARNglobal_costmap.global_costmapSensor origin at (34.10, 40.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.50sWARNglobal_costmap.global_costmapSensor origin at (33.87, 41.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866572 ms (missed cycles : 2). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866572 ms (missed cycles : 2).[0m ×2 + 19.97sWARNstate_estimatorOptimization exceeded the configured duration by 24566059ns + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 20.50sWARNglobal_costmap.global_costmapSensor origin at (34.55, 41.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.50sWARNglobal_costmap.global_costmapSensor origin at (34.32, 41.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.998ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.848ms + 21.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 98.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837601 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837601 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 21.50sWARNglobal_costmap.global_costmapSensor origin at (34.98, 41.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.50sWARNglobal_costmap.global_costmapSensor origin at (34.75, 42.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.401ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977723 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977723 ms (missed cycles : 3).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.409ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 22.50sWARNglobal_costmap.global_costmapSensor origin at (35.41, 41.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.50sWARNglobal_costmap.global_costmapSensor origin at (35.21, 42.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms ×2 + 23.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 100.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219906 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219906 ms (missed cycles : 3).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.343ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 23.50sWARNglobal_costmap.global_costmapSensor origin at (36.02, 41.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.50sWARNglobal_costmap.global_costmapSensor origin at (35.77, 42.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.781ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182725 ms (missed cycles : 2). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182725 ms (missed cycles : 2).[0m ×2 + 24.50sWARNglobal_costmap.global_costmapSensor origin at (36.48, 42.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.50sWARNglobal_costmap.global_costmapSensor origin at (36.27, 43.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.685ms + 25.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.6 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 102.6 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.602ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.158ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219655 ms (missed cycles : 4). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219655 ms (missed cycles : 4).[0m ×2 + 25.50sWARNglobal_costmap.global_costmapSensor origin at (36.96, 42.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.50sWARNglobal_costmap.global_costmapSensor origin at (36.76, 43.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.874ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 26.50sWARNglobal_costmap.global_costmapSensor origin at (37.38, 42.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.50sWARNglobal_costmap.global_costmapSensor origin at (37.18, 43.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984500 ms (missed cycles : 4). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984500 ms (missed cycles : 4).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 27.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.533ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 27.50sWARNglobal_costmap.global_costmapSensor origin at (37.81, 42.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.50sWARNglobal_costmap.global_costmapSensor origin at (37.57, 43.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203851 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203851 ms (missed cycles : 3).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.548ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.454ms + 28.50sWARNglobal_costmap.global_costmapSensor origin at (38.27, 43.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.50sWARNglobal_costmap.global_costmapSensor origin at (38.06, 44.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575097 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575097 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 29.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.8 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.8 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 29.41sINFOros2_control_nodeMuJoCo sim: 5.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.50sWARNglobal_costmap.global_costmapSensor origin at (38.69, 43.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.50sWARNglobal_costmap.global_costmapSensor origin at (38.48, 44.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.830ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931283 ms (missed cycles : 5). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931283 ms (missed cycles : 5).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms ×2 + 30.04sWARNstate_estimatorOptimization exceeded the configured duration by 145535ns + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.202ms + 30.50sWARNglobal_costmap.global_costmapSensor origin at (39.12, 43.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.50sWARNglobal_costmap.global_costmapSensor origin at (38.93, 44.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.026ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932561 ms (missed cycles : 3). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932561 ms (missed cycles : 3).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.547ms ×2 + 31.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 31.50sWARNglobal_costmap.global_costmapSensor origin at (39.58, 43.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.50sWARNglobal_costmap.global_costmapSensor origin at (39.38, 44.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714267 ms (missed cycles : 3). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714267 ms (missed cycles : 3).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.131ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 32.50sWARNglobal_costmap.global_costmapSensor origin at (40.01, 44.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.50sWARNglobal_costmap.global_costmapSensor origin at (39.79, 45.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.939ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.305ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845395 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845395 ms (missed cycles : 3).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.171ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.485ms + 33.50sWARNglobal_costmap.global_costmapSensor origin at (40.45, 44.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.50sWARNglobal_costmap.global_costmapSensor origin at (40.23, 45.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594705 ms (missed cycles : 2). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594705 ms (missed cycles : 2).[0m ×2 + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.072ms + 34.50sWARNglobal_costmap.global_costmapSensor origin at (40.78, 44.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.50sWARNglobal_costmap.global_costmapSensor origin at (40.55, 45.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.623ms + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659285 ms (missed cycles : 3). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659285 ms (missed cycles : 3).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.763ms + 35.50sWARNglobal_costmap.global_costmapSensor origin at (40.94, 44.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.50sWARNglobal_costmap.global_costmapSensor origin at (40.73, 45.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.70sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.70sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.4 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.4 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747319 ms (missed cycles : 5). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747319 ms (missed cycles : 5).[0m ×2 + 36.18sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.50sWARNglobal_costmap.global_costmapSensor origin at (41.02, 44.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 36.50sWARNglobal_costmap.global_costmapSensor origin at (40.80, 45.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 36.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.563ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382291 ms (missed cycles : 4). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382291 ms (missed cycles : 4).[0m ×2 + 37.12sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.4 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 115.4 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082585 ms (missed cycles : 5). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082585 ms (missed cycles : 5).[0m ×2 + 38.50sWARNglobal_costmap.global_costmapSensor origin at (41.01, 44.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.50sWARNglobal_costmap.global_costmapSensor origin at (40.79, 45.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.075ms + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715895 ms (missed cycles : 3). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715895 ms (missed cycles : 3).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.523ms + 39.50sWARNglobal_costmap.global_costmapSensor origin at (40.84, 44.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.50sWARNglobal_costmap.global_costmapSensor origin at (40.67, 45.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 40.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 117.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.831ms + 40.25sWARNstate_estimatorOptimization exceeded the configured duration by 1860524ns + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232209 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232209 ms (missed cycles : 2).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.281ms + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 40.50sWARNglobal_costmap.global_costmapSensor origin at (40.49, 44.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.50sWARNglobal_costmap.global_costmapSensor origin at (40.39, 45.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.467ms + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358157 ms (missed cycles : 4). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358157 ms (missed cycles : 4).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 41.50sWARNglobal_costmap.global_costmapSensor origin at (40.08, 43.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.50sWARNglobal_costmap.global_costmapSensor origin at (40.08, 44.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.794ms + 42.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.6 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 42.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 119.6 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.079ms + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937931 ms (missed cycles : 2). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937931 ms (missed cycles : 2).[0m ×2 + 42.50sWARNglobal_costmap.global_costmapSensor origin at (39.75, 43.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.50sWARNglobal_costmap.global_costmapSensor origin at (39.87, 44.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.853ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.110ms + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561953 ms (missed cycles : 4). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561953 ms (missed cycles : 4).[0m ×2 + 43.50sWARNglobal_costmap.global_costmapSensor origin at (39.61, 42.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.50sWARNglobal_costmap.global_costmapSensor origin at (39.77, 43.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 44.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 44.50sWARNglobal_costmap.global_costmapSensor origin at (39.62, 42.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.50sWARNglobal_costmap.global_costmapSensor origin at (39.77, 43.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646046 ms (missed cycles : 4). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646046 ms (missed cycles : 4).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 45.50sWARNglobal_costmap.global_costmapSensor origin at (39.81, 42.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.50sWARNglobal_costmap.global_costmapSensor origin at (39.87, 43.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629737 ms (missed cycles : 4). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629737 ms (missed cycles : 4).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 46.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 46.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.50sWARNglobal_costmap.global_costmapSensor origin at (39.99, 43.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.50sWARNglobal_costmap.global_costmapSensor origin at (39.97, 43.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105294 ms (missed cycles : 3). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105294 ms (missed cycles : 3).[0m ×2 + 47.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.910ms + 47.50sWARNglobal_costmap.global_costmapSensor origin at (40.24, 43.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.50sWARNglobal_costmap.global_costmapSensor origin at (40.18, 43.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497420 ms (missed cycles : 4). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497420 ms (missed cycles : 4).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 48.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.160ms + 48.50sWARNglobal_costmap.global_costmapSensor origin at (40.57, 43.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.50sWARNglobal_costmap.global_costmapSensor origin at (40.43, 44.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.019ms + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992771 ms (missed cycles : 5). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992771 ms (missed cycles : 5).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.359ms + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 49.50sWARNglobal_costmap.global_costmapSensor origin at (40.90, 43.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.50sWARNglobal_costmap.global_costmapSensor origin at (40.72, 44.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms ×2 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245731 ms (missed cycles : 4). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245731 ms (missed cycles : 4).[0m ×2 + 50.29sWARNstate_estimatorOptimization exceeded the configured duration by 43109404ns + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.621ms + 50.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.50sWARNglobal_costmap.global_costmapSensor origin at (41.21, 43.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.50sWARNglobal_costmap.global_costmapSensor origin at (40.92, 44.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.769ms + 50.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780122 ms (missed cycles : 2). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780122 ms (missed cycles : 2).[0m ×2 + 51.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 51.50sWARNglobal_costmap.global_costmapSensor origin at (41.55, 43.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.50sWARNglobal_costmap.global_costmapSensor origin at (41.17, 44.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.834ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530463 ms (missed cycles : 3). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530463 ms (missed cycles : 3).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.890ms + 52.50sWARNglobal_costmap.global_costmapSensor origin at (41.89, 43.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.50sWARNglobal_costmap.global_costmapSensor origin at (41.48, 44.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 52.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434464 ms (missed cycles : 4). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434464 ms (missed cycles : 4).[0m ×2 + 53.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 53.50sWARNglobal_costmap.global_costmapSensor origin at (42.17, 43.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.50sWARNglobal_costmap.global_costmapSensor origin at (41.66, 44.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847348 ms (missed cycles : 2). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847348 ms (missed cycles : 2).[0m ×2 + 54.03sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 54.50sWARNglobal_costmap.global_costmapSensor origin at (42.23, 43.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.50sWARNglobal_costmap.global_costmapSensor origin at (41.73, 44.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.4 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.4 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639379 ms (missed cycles : 4). + 55.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639379 ms (missed cycles : 4).[0m ×2 + 55.50sWARNglobal_costmap.global_costmapSensor origin at (42.27, 43.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.50sWARNglobal_costmap.global_costmapSensor origin at (41.74, 44.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.294ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248982 ms (missed cycles : 5). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248982 ms (missed cycles : 5).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 56.50sWARNglobal_costmap.global_costmapSensor origin at (40.66, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.50sWARNglobal_costmap.global_costmapSensor origin at (39.98, 52.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690103 ms (missed cycles : 6). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690103 ms (missed cycles : 6).[0m ×2 + 57.50sWARNglobal_costmap.global_costmapSensor origin at (40.62, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.50sWARNglobal_costmap.global_costmapSensor origin at (39.95, 52.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102099 ms (missed cycles : 4). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102099 ms (missed cycles : 4).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.322ms + 58.50sWARNglobal_costmap.global_costmapSensor origin at (40.41, 51.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.50sWARNglobal_costmap.global_costmapSensor origin at (39.83, 52.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.206ms + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596047 ms (missed cycles : 3). + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596047 ms (missed cycles : 3).[0m ×2 + 59.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 59.50sWARNglobal_costmap.global_costmapSensor origin at (40.08, 51.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.50sWARNglobal_costmap.global_costmapSensor origin at (39.56, 52.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.714ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589690 ms (missed cycles : 4). + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589690 ms (missed cycles : 4).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 60.50sWARNglobal_costmap.global_costmapSensor origin at (39.77, 51.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.50sWARNglobal_costmap.global_costmapSensor origin at (39.35, 51.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 60.77sWARNstate_estimatorOptimization exceeded the configured duration by 27459624ns + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.727ms + 61.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923841 ms (missed cycles : 2). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923841 ms (missed cycles : 2).[0m ×2 + 61.50sWARNglobal_costmap.global_costmapSensor origin at (39.48, 51.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.50sWARNglobal_costmap.global_costmapSensor origin at (39.12, 51.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.463ms + 62.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.266ms + 62.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141566 ms (missed cycles : 4). + 62.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141566 ms (missed cycles : 4).[0m ×2 + 62.50sWARNglobal_costmap.global_costmapSensor origin at (39.16, 50.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.50sWARNglobal_costmap.global_costmapSensor origin at (38.93, 51.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 63.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 63.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.50sWARNglobal_costmap.global_costmapSensor origin at (38.91, 50.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.50sWARNglobal_costmap.global_costmapSensor origin at (38.70, 51.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124319 ms (missed cycles : 4). + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124319 ms (missed cycles : 4).[0m ×2 + 63.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 64.50sWARNglobal_costmap.global_costmapSensor origin at (38.62, 50.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 64.50sWARNglobal_costmap.global_costmapSensor origin at (38.51, 51.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 64.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302511 ms (missed cycles : 4). + 64.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302511 ms (missed cycles : 4).[0m ×2 + 64.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.110ms + 65.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 65.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 65.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 65.50sWARNglobal_costmap.global_costmapSensor origin at (38.40, 50.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 65.50sWARNglobal_costmap.global_costmapSensor origin at (38.34, 51.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 65.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836547 ms (missed cycles : 3). + 65.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836547 ms (missed cycles : 3).[0m ×2 + 65.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 66.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.429ms + 66.50sWARNglobal_costmap.global_costmapSensor origin at (38.18, 50.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 66.50sWARNglobal_costmap.global_costmapSensor origin at (38.22, 51.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 66.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379346 ms (missed cycles : 4). + 66.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379346 ms (missed cycles : 4).[0m ×2 + 66.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 67.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 67.50sWARNglobal_costmap.global_costmapSensor origin at (37.98, 50.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 67.50sWARNglobal_costmap.global_costmapSensor origin at (38.08, 51.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 67.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 67.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 67.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822857 ms (missed cycles : 2). + 67.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822857 ms (missed cycles : 2).[0m ×2 + 67.80sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 68.50sWARNglobal_costmap.global_costmapSensor origin at (37.95, 50.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 68.50sWARNglobal_costmap.global_costmapSensor origin at (38.04, 51.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 68.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920274 ms (missed cycles : 3). + 68.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920274 ms (missed cycles : 3).[0m ×2 + 69.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.213ms + 69.50sWARNglobal_costmap.global_costmapSensor origin at (37.85, 50.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 69.50sWARNglobal_costmap.global_costmapSensor origin at (38.01, 51.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 69.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 69.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 70.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737705 ms (missed cycles : 2). + 70.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737705 ms (missed cycles : 2).[0m ×2 + 70.50sWARNglobal_costmap.global_costmapSensor origin at (37.80, 50.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 70.50sWARNglobal_costmap.global_costmapSensor origin at (37.99, 51.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 71.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962502 ms (missed cycles : 4). + 71.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962502 ms (missed cycles : 4).[0m ×2 + 71.50sWARNglobal_costmap.global_costmapSensor origin at (37.93, 50.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 71.50sWARNglobal_costmap.global_costmapSensor origin at (38.02, 51.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 71.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.696ms + 71.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.4 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 71.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.4 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 71.87sWARNstate_estimatorOptimization exceeded the configured duration by 22598000ns + 71.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.955ms + 72.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496387 ms (missed cycles : 3). + 72.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496387 ms (missed cycles : 3).[0m ×2 + 72.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.384ms + 72.50sWARNglobal_costmap.global_costmapSensor origin at (38.16, 50.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 72.50sWARNglobal_costmap.global_costmapSensor origin at (38.13, 51.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 72.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.617ms + 73.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388613 ms (missed cycles : 4). + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388613 ms (missed cycles : 4).[0m ×2 + 73.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 73.50sWARNglobal_costmap.global_costmapSensor origin at (38.45, 50.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 73.50sWARNglobal_costmap.global_costmapSensor origin at (38.33, 51.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 74.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 74.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 74.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 74.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398205 ms (missed cycles : 3). + 74.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398205 ms (missed cycles : 3).[0m ×2 + 74.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms + 74.50sWARNglobal_costmap.global_costmapSensor origin at (38.80, 50.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 74.50sWARNglobal_costmap.global_costmapSensor origin at (38.59, 51.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 74.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.887ms + 75.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.560ms + 75.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991548 ms (missed cycles : 2). + 75.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991548 ms (missed cycles : 2).[0m ×2 + 75.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms ×2 + 75.50sWARNglobal_costmap.global_costmapSensor origin at (39.23, 51.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 75.50sWARNglobal_costmap.global_costmapSensor origin at (38.85, 51.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 75.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.814ms + 76.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 76.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 76.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 76.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.101ms + 76.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547308 ms (missed cycles : 3). + 76.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547308 ms (missed cycles : 3).[0m ×2 + 76.50sWARNglobal_costmap.global_costmapSensor origin at (39.65, 51.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 76.50sWARNglobal_costmap.global_costmapSensor origin at (39.18, 52.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 76.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 76.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.451ms + 77.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.022ms + 77.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742038 ms (missed cycles : 5). + 77.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742038 ms (missed cycles : 5).[0m ×2 + 77.50sWARNglobal_costmap.global_costmapSensor origin at (40.16, 51.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 77.50sWARNglobal_costmap.global_costmapSensor origin at (39.57, 52.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 77.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.638ms + 77.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 78.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 78.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 78.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947469 ms (missed cycles : 2). + 78.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947469 ms (missed cycles : 2).[0m ×2 + 78.50sWARNglobal_costmap.global_costmapSensor origin at (40.47, 51.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 78.50sWARNglobal_costmap.global_costmapSensor origin at (39.81, 52.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 78.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.989ms + 79.50sWARNglobal_costmap.global_costmapSensor origin at (40.64, 51.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 79.50sWARNglobal_costmap.global_costmapSensor origin at (39.94, 52.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 79.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152162 ms (missed cycles : 5). + 79.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152162 ms (missed cycles : 5).[0m ×2 + 79.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.358ms + 79.99sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705054.65246606 seconds ×3 + 80.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 80.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 80.50sWARNglobal_costmap.global_costmapSensor origin at (40.53, 51.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 80.50sWARNglobal_costmap.global_costmapSensor origin at (40.14, 52.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 80.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253459 ms (missed cycles : 2). + 80.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253459 ms (missed cycles : 2).[0m ×2 + 80.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705055.23643374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 80.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 80.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 81.50sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 81.50sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 81.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733153 ms (missed cycles : 3). + 81.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733153 ms (missed cycles : 3).[0m ×2 + 82.04sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	192 warnings · 293 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 0.81sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.81sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.60sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.60sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.60sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms ×2 + 4.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787704815.46905255 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787704816.05362034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504198 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504198 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353593 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353593 ms (missed cycles : 2).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.056ms ×2 + 9.47sWARNstate_estimatorOptimization exceeded the configured duration by 21871732ns + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071709 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071709 ms (missed cycles : 4).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.287ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612344 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612344 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417586 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417586 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899157 ms (missed cycles : 4). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899157 ms (missed cycles : 4).[0m ×2 + 12.90sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676599 ms (missed cycles : 5). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676599 ms (missed cycles : 5).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879438 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879438 ms (missed cycles : 3).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755391 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755391 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757649 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757649 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.137ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547176 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547176 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.532ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.307ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841121 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841121 ms (missed cycles : 2).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 19.65sWARNstate_estimatorOptimization exceeded the configured duration by 10194070ns + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.671ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.159ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999295 ms (missed cycles : 5). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999295 ms (missed cycles : 5).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963277 ms (missed cycles : 6). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963277 ms (missed cycles : 6).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.849ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979251 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979251 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.888ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.474ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349989 ms (missed cycles : 4). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349989 ms (missed cycles : 4).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.585ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.935ms ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532862 ms (missed cycles : 3). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532862 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.894ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469648 ms (missed cycles : 4). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469648 ms (missed cycles : 4).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366953 ms (missed cycles : 4). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366953 ms (missed cycles : 4).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117334 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117334 ms (missed cycles : 2).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.259ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.449ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911270 ms (missed cycles : 4). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911270 ms (missed cycles : 4).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.097ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553470 ms (missed cycles : 4). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553470 ms (missed cycles : 4).[0m ×2 + 29.75sWARNstate_estimatorOptimization exceeded the configured duration by 4654378ns + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.855ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.901ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.446ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.562ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629625 ms (missed cycles : 3). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629625 ms (missed cycles : 3).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.609ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.511ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470511 ms (missed cycles : 4). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470511 ms (missed cycles : 4).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.040ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360208 ms (missed cycles : 4). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360208 ms (missed cycles : 4).[0m ×2 + 33.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.398ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315864 ms (missed cycles : 4). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315864 ms (missed cycles : 4).[0m ×2 + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.199ms + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121241 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121241 ms (missed cycles : 3).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 35.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760004 ms (missed cycles : 2). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760004 ms (missed cycles : 2).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757783 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757783 ms (missed cycles : 3).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243221 ms (missed cycles : 2). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243221 ms (missed cycles : 2).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.692ms + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785970 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785970 ms (missed cycles : 3).[0m ×2 + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.705ms + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 40.15sWARNstate_estimatorOptimization exceeded the configured duration by 1279336ns + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215469 ms (missed cycles : 3). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215469 ms (missed cycles : 3).[0m ×2 + 41.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.488ms + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344928 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344928 ms (missed cycles : 3).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964529 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964529 ms (missed cycles : 2).[0m ×2 + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310964 ms (missed cycles : 4). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310964 ms (missed cycles : 4).[0m ×2 + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.295ms + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914829 ms (missed cycles : 2). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914829 ms (missed cycles : 2).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715025 ms (missed cycles : 4). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715025 ms (missed cycles : 4).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475951 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475951 ms (missed cycles : 3).[0m ×2 + 47.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378954 ms (missed cycles : 5). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378954 ms (missed cycles : 5).[0m ×2 + 48.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.814ms + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596700 ms (missed cycles : 3). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596700 ms (missed cycles : 3).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872393 ms (missed cycles : 3). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872393 ms (missed cycles : 3).[0m ×2 + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217774 ms (missed cycles : 4). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217774 ms (missed cycles : 4).[0m ×2 + 51.45sWARNstate_estimatorOptimization exceeded the configured duration by 4987476ns + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668509 ms (missed cycles : 3). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668509 ms (missed cycles : 3).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.737ms + 53.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.212ms + 53.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467370 ms (missed cycles : 4). + 53.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467370 ms (missed cycles : 4).[0m ×2 + 54.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611987 ms (missed cycles : 4). + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611987 ms (missed cycles : 4).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627503 ms (missed cycles : 4). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627503 ms (missed cycles : 4).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.978ms + 56.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.652ms + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979414 ms (missed cycles : 3). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979414 ms (missed cycles : 3).[0m ×2 + 57.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.521ms + 57.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 60.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 60.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 61.45sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 61.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 62.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.62sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 62.82sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 63.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	409 warnings · 240 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.32sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2 + 7.16sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.16sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.37sINFOros2_control_nodeMuJoCo sim: 7.72% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991361 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991361 ms (missed cycles : 3).[0m ×2 + 8.46sWARNglobal_costmap.global_costmapSensor origin at (30.76, 68.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.46sWARNglobal_costmap.global_costmapSensor origin at (30.11, 69.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297881 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297881 ms (missed cycles : 3).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 9.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 169.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 169.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.46sWARNglobal_costmap.global_costmapSensor origin at (30.87, 69.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.46sWARNglobal_costmap.global_costmapSensor origin at (30.21, 69.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 9.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 10.03sWARNstate_estimatorOptimization exceeded the configured duration by 25245777ns + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817413 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817413 ms (missed cycles : 3).[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 10.46sWARNglobal_costmap.global_costmapSensor origin at (31.09, 69.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.46sWARNglobal_costmap.global_costmapSensor origin at (30.41, 70.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.926ms + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 11.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 11.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 171.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 171.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780281 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780281 ms (missed cycles : 2).[0m ×2 + 11.46sWARNglobal_costmap.global_costmapSensor origin at (31.31, 70.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.46sWARNglobal_costmap.global_costmapSensor origin at (30.65, 70.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.362ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.583ms + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.818ms + 12.46sWARNglobal_costmap.global_costmapSensor origin at (31.54, 70.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.46sWARNglobal_costmap.global_costmapSensor origin at (30.86, 71.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083986 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083986 ms (missed cycles : 3).[0m ×2 + 12.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.605ms + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.409ms + 13.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 13.36sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 173.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.36sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 173.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 13.46sWARNglobal_costmap.global_costmapSensor origin at (31.78, 70.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.46sWARNglobal_costmap.global_costmapSensor origin at (31.11, 71.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092845 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092845 ms (missed cycles : 3).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.660ms + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.821ms + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.454ms + 14.46sWARNglobal_costmap.global_costmapSensor origin at (32.02, 71.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.46sWARNglobal_costmap.global_costmapSensor origin at (31.35, 71.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152560 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152560 ms (missed cycles : 3).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 15.46sWARNglobal_costmap.global_costmapSensor origin at (32.25, 71.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.46sWARNglobal_costmap.global_costmapSensor origin at (31.61, 72.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 175.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 175.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418477 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418477 ms (missed cycles : 2).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.136ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 16.46sWARNglobal_costmap.global_costmapSensor origin at (32.48, 72.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.46sWARNglobal_costmap.global_costmapSensor origin at (31.80, 72.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.980ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642219 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642219 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 17.46sWARNglobal_costmap.global_costmapSensor origin at (32.72, 72.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.46sWARNglobal_costmap.global_costmapSensor origin at (32.07, 73.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.2 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.2 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872586 ms (missed cycles : 4). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872586 ms (missed cycles : 4).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.833ms + 18.46sWARNglobal_costmap.global_costmapSensor origin at (32.95, 73.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.46sWARNglobal_costmap.global_costmapSensor origin at (32.28, 73.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127700 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127700 ms (missed cycles : 3).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 19.46sWARNglobal_costmap.global_costmapSensor origin at (33.15, 73.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.46sWARNglobal_costmap.global_costmapSensor origin at (32.51, 74.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 19.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379516 ms (missed cycles : 6). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379516 ms (missed cycles : 6).[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 20.11sWARNstate_estimatorOptimization exceeded the configured duration by 14837512ns + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 20.46sWARNglobal_costmap.global_costmapSensor origin at (33.42, 73.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.46sWARNglobal_costmap.global_costmapSensor origin at (32.78, 74.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.955ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590393 ms (missed cycles : 3). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590393 ms (missed cycles : 3).[0m ×2 + 21.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.204ms + 21.46sWARNglobal_costmap.global_costmapSensor origin at (33.64, 74.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.46sWARNglobal_costmap.global_costmapSensor origin at (32.98, 75.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 21.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.6 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.6 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993080 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993080 ms (missed cycles : 3).[0m ×2 + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.787ms + 22.46sWARNglobal_costmap.global_costmapSensor origin at (33.86, 74.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.46sWARNglobal_costmap.global_costmapSensor origin at (33.19, 75.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.962ms + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923004 ms (missed cycles : 6). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923004 ms (missed cycles : 6).[0m ×2 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms ×2 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.794ms + 23.46sWARNglobal_costmap.global_costmapSensor origin at (34.13, 75.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.46sWARNglobal_costmap.global_costmapSensor origin at (33.46, 75.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 23.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.6 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478595 ms (missed cycles : 4). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478595 ms (missed cycles : 4).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.910ms + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 24.46sWARNglobal_costmap.global_costmapSensor origin at (34.36, 75.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.46sWARNglobal_costmap.global_costmapSensor origin at (33.71, 76.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731672 ms (missed cycles : 3). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731672 ms (missed cycles : 3).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 25.46sWARNglobal_costmap.global_costmapSensor origin at (34.59, 76.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.46sWARNglobal_costmap.global_costmapSensor origin at (33.94, 76.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 25.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.6 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.323ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434394 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434394 ms (missed cycles : 2).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 26.46sWARNglobal_costmap.global_costmapSensor origin at (34.82, 76.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.46sWARNglobal_costmap.global_costmapSensor origin at (34.14, 77.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.064ms + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894493 ms (missed cycles : 2). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894493 ms (missed cycles : 2).[0m ×2 + 27.46sWARNglobal_costmap.global_costmapSensor origin at (35.05, 77.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.46sWARNglobal_costmap.global_costmapSensor origin at (34.39, 77.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.177ms + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 27.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.96sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525539 ms (missed cycles : 4). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525539 ms (missed cycles : 4).[0m ×2 + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 28.46sWARNglobal_costmap.global_costmapSensor origin at (35.29, 77.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.46sWARNglobal_costmap.global_costmapSensor origin at (34.64, 78.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.862ms + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.114ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207517 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207517 ms (missed cycles : 2).[0m ×2 + 29.46sWARNglobal_costmap.global_costmapSensor origin at (35.51, 77.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.46sWARNglobal_costmap.global_costmapSensor origin at (34.86, 78.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 30.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.528ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188421 ms (missed cycles : 2). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188421 ms (missed cycles : 2).[0m ×2 + 30.46sWARNglobal_costmap.global_costmapSensor origin at (35.77, 78.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.46sWARNglobal_costmap.global_costmapSensor origin at (35.13, 79.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.50sWARNstate_estimatorOptimization exceeded the configured duration by 2182829ns + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.640ms + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525957 ms (missed cycles : 4). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525957 ms (missed cycles : 4).[0m ×2 + 31.46sWARNglobal_costmap.global_costmapSensor origin at (35.99, 78.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.46sWARNglobal_costmap.global_costmapSensor origin at (35.36, 79.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.552ms + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 32.16sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.16sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280153 ms (missed cycles : 4). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280153 ms (missed cycles : 4).[0m ×2 + 32.46sWARNglobal_costmap.global_costmapSensor origin at (36.21, 79.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.46sWARNglobal_costmap.global_costmapSensor origin at (35.54, 79.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.102ms + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 33.46sWARNglobal_costmap.global_costmapSensor origin at (36.47, 79.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.46sWARNglobal_costmap.global_costmapSensor origin at (35.82, 80.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845855 ms (missed cycles : 2). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845855 ms (missed cycles : 2).[0m ×2 + 33.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.808ms + 34.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.468ms + 34.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.46sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.46sWARNglobal_costmap.global_costmapSensor origin at (36.02, 80.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629856 ms (missed cycles : 6). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629856 ms (missed cycles : 6).[0m ×2 + 34.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 35.46sWARNglobal_costmap.global_costmapSensor origin at (36.78, 80.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.46sWARNglobal_costmap.global_costmapSensor origin at (36.14, 81.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950156 ms (missed cycles : 3). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950156 ms (missed cycles : 3).[0m ×2 + 35.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 35.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.46sWARNglobal_costmap.global_costmapSensor origin at (36.78, 80.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.46sWARNglobal_costmap.global_costmapSensor origin at (36.11, 81.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696812 ms (missed cycles : 4). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696812 ms (missed cycles : 4).[0m ×2 + 37.46sWARNglobal_costmap.global_costmapSensor origin at (36.71, 80.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.46sWARNglobal_costmap.global_costmapSensor origin at (36.04, 81.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002156 ms (missed cycles : 4). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002156 ms (missed cycles : 4).[0m ×2 + 38.46sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.46sWARNglobal_costmap.global_costmapSensor origin at (35.99, 81.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845696 ms (missed cycles : 2). + 38.76sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.4 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845696 ms (missed cycles : 2).[0m ×2 + 38.76sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.4 s (AMCL untrusted, spread=0.63); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.46sWARNglobal_costmap.global_costmapSensor origin at (36.80, 80.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.46sWARNglobal_costmap.global_costmapSensor origin at (36.13, 81.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.158ms + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567125 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567125 ms (missed cycles : 3).[0m ×2 + 39.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 40.46sWARNglobal_costmap.global_costmapSensor origin at (36.91, 80.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.46sWARNglobal_costmap.global_costmapSensor origin at (36.24, 81.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.61sWARNstate_estimatorOptimization exceeded the configured duration by 6418963ns + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576818 ms (missed cycles : 4). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576818 ms (missed cycles : 4).[0m ×2 + 40.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.6 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.6 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 41.46sWARNglobal_costmap.global_costmapSensor origin at (36.97, 80.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.46sWARNglobal_costmap.global_costmapSensor origin at (36.30, 80.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817932 ms (missed cycles : 4). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817932 ms (missed cycles : 4).[0m ×2 + 42.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.603ms + 42.46sWARNglobal_costmap.global_costmapSensor origin at (37.11, 80.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.46sWARNglobal_costmap.global_costmapSensor origin at (36.36, 81.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077630 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077630 ms (missed cycles : 3).[0m ×2 + 42.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.156ms + 43.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.8 s (AMCL untrusted, spread=0.68); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.8 s (AMCL untrusted, spread=0.68); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.46sWARNglobal_costmap.global_costmapSensor origin at (37.23, 80.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.46sWARNglobal_costmap.global_costmapSensor origin at (36.46, 81.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430930 ms (missed cycles : 5). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430930 ms (missed cycles : 5).[0m ×2 + 44.46sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.46sWARNglobal_costmap.global_costmapSensor origin at (36.52, 81.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774556 ms (missed cycles : 3). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774556 ms (missed cycles : 3).[0m ×2 + 45.36sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 205.0 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.36sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 205.0 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.46sWARNglobal_costmap.global_costmapSensor origin at (37.18, 80.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.46sWARNglobal_costmap.global_costmapSensor origin at (36.49, 81.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.467ms + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.311ms + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373886 ms (missed cycles : 4). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373886 ms (missed cycles : 4).[0m ×2 + 46.46sWARNglobal_costmap.global_costmapSensor origin at (37.04, 80.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.46sWARNglobal_costmap.global_costmapSensor origin at (36.41, 81.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449922 ms (missed cycles : 4). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449922 ms (missed cycles : 4).[0m ×2 + 47.46sWARNglobal_costmap.global_costmapSensor origin at (37.05, 80.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.46sWARNglobal_costmap.global_costmapSensor origin at (36.42, 80.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 207.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 207.2 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.205ms + 48.46sWARNglobal_costmap.global_costmapSensor origin at (37.12, 80.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.46sWARNglobal_costmap.global_costmapSensor origin at (36.43, 80.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482160 ms (missed cycles : 4). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482160 ms (missed cycles : 4).[0m ×2 + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 49.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 49.46sWARNglobal_costmap.global_costmapSensor origin at (37.29, 80.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.46sWARNglobal_costmap.global_costmapSensor origin at (36.53, 81.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690273 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690273 ms (missed cycles : 3).[0m ×2 + 49.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.4 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.4 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.522ms + 50.46sWARNglobal_costmap.global_costmapSensor origin at (37.36, 80.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.46sWARNglobal_costmap.global_costmapSensor origin at (36.60, 81.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896696 ms (missed cycles : 4). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896696 ms (missed cycles : 4).[0m ×2 + 50.68sWARNstate_estimatorOptimization exceeded the configured duration by 75974628ns + 51.46sWARNglobal_costmap.global_costmapSensor origin at (37.39, 80.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.46sWARNglobal_costmap.global_costmapSensor origin at (36.66, 81.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843338 ms (missed cycles : 5). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843338 ms (missed cycles : 5).[0m ×2 + 51.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.6 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.6 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.543ms + 52.46sWARNglobal_costmap.global_costmapSensor origin at (37.24, 80.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.46sWARNglobal_costmap.global_costmapSensor origin at (36.59, 81.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.274ms + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375617 ms (missed cycles : 5). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375617 ms (missed cycles : 5).[0m ×2 + 53.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 53.46sWARNglobal_costmap.global_costmapSensor origin at (37.13, 80.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.46sWARNglobal_costmap.global_costmapSensor origin at (36.51, 80.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167934 ms (missed cycles : 3). + 53.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167934 ms (missed cycles : 3).[0m ×2 + 54.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.46sWARNglobal_costmap.global_costmapSensor origin at (37.17, 80.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.46sWARNglobal_costmap.global_costmapSensor origin at (36.53, 80.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 54.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256338 ms (missed cycles : 2). + 54.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256338 ms (missed cycles : 2).[0m ×2 + 55.46sWARNglobal_costmap.global_costmapSensor origin at (37.21, 80.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.46sWARNglobal_costmap.global_costmapSensor origin at (36.54, 80.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.540ms + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498103 ms (missed cycles : 5). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498103 ms (missed cycles : 5).[0m ×2 + 56.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 56.46sWARNglobal_costmap.global_costmapSensor origin at (37.38, 80.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.46sWARNglobal_costmap.global_costmapSensor origin at (36.64, 80.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.548ms + 57.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803647 ms (missed cycles : 3). + 57.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803647 ms (missed cycles : 3).[0m ×2 + 57.46sWARNglobal_costmap.global_costmapSensor origin at (37.49, 80.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.46sWARNglobal_costmap.global_costmapSensor origin at (36.73, 80.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825482 ms (missed cycles : 3). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825482 ms (missed cycles : 3).[0m ×2 + 58.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 58.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.46sWARNglobal_costmap.global_costmapSensor origin at (37.58, 80.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.46sWARNglobal_costmap.global_costmapSensor origin at (36.85, 80.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189525 ms (missed cycles : 3). + 59.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189525 ms (missed cycles : 3).[0m ×2 + 59.46sWARNglobal_costmap.global_costmapSensor origin at (37.57, 80.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.46sWARNglobal_costmap.global_costmapSensor origin at (36.86, 80.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 60.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 60.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.46sWARNglobal_costmap.global_costmapSensor origin at (37.40, 80.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.46sWARNglobal_costmap.global_costmapSensor origin at (36.76, 80.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729897 ms (missed cycles : 3). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729897 ms (missed cycles : 3).[0m ×2 + 60.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 60.70sWARNstate_estimatorOptimization exceeded the configured duration by 3096547ns + 61.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.369ms + 61.46sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.46sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705118.20614886 seconds ×3 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516412 ms (missed cycles : 2). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516412 ms (missed cycles : 2).[0m ×2 + 61.54sWARNlocal_costmap.local_costmapSensor origin at (-15.27, 64.82) is out of map bounds (-15.20, 50.60) to (-10.23, 55.57). The costmap cannot raytrace for it. + 61.54sWARNlocal_costmap.local_costmapSensor origin at (-16.17, 64.85) is out of map bounds (-15.20, 50.60) to (-10.23, 55.57). The costmap cannot raytrace for it. + 61.64sWARNlocal_costmap.local_costmapSensor origin at (-14.28, 60.97) is out of map bounds (-18.20, 62.30) to (-13.23, 67.27). The costmap cannot raytrace for it. + 61.64sWARNlocal_costmap.local_costmapSensor origin at (-15.19, 61.03) is out of map bounds (-18.20, 62.30) to (-13.23, 67.27). The costmap cannot raytrace for it. + 61.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.180ms + 61.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.080ms + 62.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705118.80577135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.46sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.46sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.50sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016878 ms (missed cycles : 3). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016878 ms (missed cycles : 3).[0m ×2 + 62.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 222.2 s (AMCL untrusted, spread=4.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 222.2 s (AMCL untrusted, spread=4.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 62.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.46sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.46sWARNglobal_costmap.global_costmapSensor origin at (36.65, 80.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470612 ms (missed cycles : 3). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470612 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.8s	278 warnings · 278 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.297ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.282ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.10sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787704911.50937653 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.38, 18.57) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-5.28, 18.56) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787704912.10081840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2).[0m ×2 + 5.85sWARNstate_estimatorOptimization exceeded the configured duration by 15168771ns + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932837 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932837 ms (missed cycles : 3).[0m ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=7.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=7.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448676 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448676 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.623ms + 8.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.033ms + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446621 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446621 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.853ms + 9.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.553ms + 9.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=7.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.0 s (AMCL untrusted, spread=7.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.327ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023490 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023490 ms (missed cycles : 4).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.227ms + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.671ms + 10.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.650ms + 10.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.749ms + 11.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.114ms + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232019 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232019 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.005ms + 11.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.826ms + 11.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=5.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=5.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.572ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751557 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751557 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.722ms + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.907ms + 12.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.067ms + 13.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.069ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021189 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021189 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.008ms + 13.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.163ms + 13.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.385ms + 14.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=3.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=3.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 4.551ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417690 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417690 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 5.502ms + 14.60sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 3.198ms + 14.80sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 3.446ms + 15.09sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.600ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732612 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732612 ms (missed cycles : 2).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.860ms + 15.69sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.815ms + 15.90sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.573ms + 16.05sWARNstate_estimatorOptimization exceeded the configured duration by 11158286ns + 16.18sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.414ms + 16.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=2.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429459 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429459 ms (missed cycles : 2).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.819ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.518ms ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940919 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940919 ms (missed cycles : 2).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.421ms + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706271 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706271 ms (missed cycles : 3).[0m ×2 + 18.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.8 s (AMCL untrusted, spread=1.77); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.8 s (AMCL untrusted, spread=1.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.317ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443057 ms (missed cycles : 4). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443057 ms (missed cycles : 4).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.791ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.587ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.590ms + 20.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.8 s (AMCL untrusted, spread=1.80); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.8 s (AMCL untrusted, spread=1.80); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192126 ms (missed cycles : 3). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192126 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.852ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.945ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214738 ms (missed cycles : 2). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214738 ms (missed cycles : 2).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.060ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674587 ms (missed cycles : 4). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674587 ms (missed cycles : 4).[0m ×2 + 22.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 33.0 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 33.0 s (AMCL untrusted, spread=1.06); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.387ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.578ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.861ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.537ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472369 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472369 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.825ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.782ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812188 ms (missed cycles : 4). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812188 ms (missed cycles : 4).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms ×2 + 24.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.2 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.2 s (AMCL untrusted, spread=0.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.397ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.363ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842539 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842539 ms (missed cycles : 5).[0m ×2 + 26.05sWARNstate_estimatorOptimization exceeded the configured duration by 15367439ns + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.564ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.287ms ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113095 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113095 ms (missed cycles : 3).[0m ×2 + 27.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.4 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.4 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.455ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977074 ms (missed cycles : 3). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977074 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.519ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.128ms + 29.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404145 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404145 ms (missed cycles : 2).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.671ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013669 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013669 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.288ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.971ms ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.442ms + 31.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780876 ms (missed cycles : 3). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780876 ms (missed cycles : 3).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.659ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.045ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.154ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.793ms + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149502 ms (missed cycles : 2). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149502 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.683ms ×2 + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.043ms + 33.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.6 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.6 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021072 ms (missed cycles : 2). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021072 ms (missed cycles : 2).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.730ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 33.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.253ms + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370491 ms (missed cycles : 3). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370491 ms (missed cycles : 3).[0m ×2 + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.699ms ×2 + 35.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.869ms + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871266 ms (missed cycles : 4). + 35.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.8 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871266 ms (missed cycles : 4).[0m ×2 + 35.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.8 s (AMCL untrusted, spread=0.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.29sWARNstate_estimatorOptimization exceeded the configured duration by 152258501ns + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548015 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548015 ms (missed cycles : 3).[0m ×2 + 36.70sINFOros2_control_nodeMuJoCo sim: 4.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827346 ms (missed cycles : 2). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827346 ms (missed cycles : 2).[0m ×2 + 37.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 48.0 s (AMCL untrusted, spread=0.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 48.0 s (AMCL untrusted, spread=0.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.11sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053534 ms (missed cycles : 4). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053534 ms (missed cycles : 4).[0m ×2 + 38.97sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256483 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256483 ms (missed cycles : 2).[0m ×2 + 39.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 50.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 39.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 50.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.424ms + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.298ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599740 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599740 ms (missed cycles : 3).[0m ×2 + 40.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.759ms + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.459ms + 41.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123853 ms (missed cycles : 4). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123853 ms (missed cycles : 4).[0m ×2 + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 41.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.2 s (AMCL untrusted, spread=0.58); map->odom is dead-reckoning and will drift until AMCL re-locks. + 41.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.2 s (AMCL untrusted, spread=0.58); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.368ms + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.217ms + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245301 ms (missed cycles : 4). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245301 ms (missed cycles : 4).[0m ×2 + 42.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.250ms + 42.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.299ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.373ms + 43.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 43.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.858ms + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494790 ms (missed cycles : 3). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494790 ms (missed cycles : 3).[0m ×2 + 43.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 44.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.958ms + 44.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965947 ms (missed cycles : 3). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965947 ms (missed cycles : 3).[0m ×2 + 45.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.802ms + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486755 ms (missed cycles : 3). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486755 ms (missed cycles : 3).[0m ×2 + 46.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.4 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 46.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.4 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.34sWARNstate_estimatorOptimization exceeded the configured duration by 775370ns + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712121 ms (missed cycles : 3). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712121 ms (missed cycles : 3).[0m ×2 + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.863ms + 47.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.392ms + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783386 ms (missed cycles : 5). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783386 ms (missed cycles : 5).[0m ×2 + 48.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.4 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.432ms + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.515ms ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.162ms + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258993 ms (missed cycles : 4). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258993 ms (missed cycles : 4).[0m ×2 + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 50.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773757 ms (missed cycles : 6). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773757 ms (missed cycles : 6).[0m ×2 + 50.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.468ms + 50.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.650ms + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.415ms + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767074 ms (missed cycles : 2). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767074 ms (missed cycles : 2).[0m ×2 + 51.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.416ms + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.567ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533099 ms (missed cycles : 4). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533099 ms (missed cycles : 4).[0m ×2 + 52.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 53.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290920 ms (missed cycles : 4). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290920 ms (missed cycles : 4).[0m ×2 + 53.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.350ms + 54.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.296ms + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687405 ms (missed cycles : 3). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687405 ms (missed cycles : 3).[0m ×2 + 54.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.625ms + 55.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726214 ms (missed cycles : 3). + 55.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726214 ms (missed cycles : 3).[0m ×2 + 55.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.550ms + 55.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.477ms + 56.34sWARNstate_estimatorOptimization exceeded the configured duration by 1857139ns + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049458 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049458 ms (missed cycles : 2).[0m ×2 + 56.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.586ms + 56.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.150ms + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242003 ms (missed cycles : 5). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242003 ms (missed cycles : 5).[0m ×2 + 57.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.498ms + 58.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 58.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398471 ms (missed cycles : 3). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398471 ms (missed cycles : 3).[0m ×2 + 58.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.270ms + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332940 ms (missed cycles : 3). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332940 ms (missed cycles : 3).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.508ms + 60.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.266ms + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487488 ms (missed cycles : 3). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487488 ms (missed cycles : 3).[0m ×2 + 60.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787704968.34097838 seconds ×3 + 61.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.235ms + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 61.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787704968.93637919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662811 ms (missed cycles : 3). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662811 ms (missed cycles : 3).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.101ms + 61.99sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 62.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404654 ms (missed cycles : 3). + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404654 ms (missed cycles : 3).[0m ×2 + 62.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.89sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	149 warnings · 269 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 1.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077150 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077150 ms (missed cycles : 2).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845274 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845274 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.147ms + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287678 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287678 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021691 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021691 ms (missed cycles : 3).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533458 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533458 ms (missed cycles : 3).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685115 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685115 ms (missed cycles : 3).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924462 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924462 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894890 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894890 ms (missed cycles : 3).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268081 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268081 ms (missed cycles : 2).[0m ×2 + 16.37sWARNstate_estimatorOptimization exceeded the configured duration by 22729941ns + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117626 ms (missed cycles : 4). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117626 ms (missed cycles : 4).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653300 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653300 ms (missed cycles : 3).[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505963 ms (missed cycles : 3). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505963 ms (missed cycles : 3).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.812ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078640 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078640 ms (missed cycles : 2).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571914 ms (missed cycles : 4). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571914 ms (missed cycles : 4).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814327 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814327 ms (missed cycles : 3).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956397 ms (missed cycles : 3). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956397 ms (missed cycles : 3).[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822280 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822280 ms (missed cycles : 2).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262452 ms (missed cycles : 3). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262452 ms (missed cycles : 3).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526439 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526439 ms (missed cycles : 3).[0m ×2 + 26.46sWARNstate_estimatorOptimization exceeded the configured duration by 8806361ns + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990408 ms (missed cycles : 2). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990408 ms (missed cycles : 2).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039676 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039676 ms (missed cycles : 2).[0m ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479235 ms (missed cycles : 3). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479235 ms (missed cycles : 3).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786598 ms (missed cycles : 3). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786598 ms (missed cycles : 3).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.660ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261686 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261686 ms (missed cycles : 3).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607147 ms (missed cycles : 2). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607147 ms (missed cycles : 2).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782853 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782853 ms (missed cycles : 2).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333966 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333966 ms (missed cycles : 3).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820796 ms (missed cycles : 3). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820796 ms (missed cycles : 3).[0m ×2 + 36.46sWARNstate_estimatorOptimization exceeded the configured duration by 14463708ns + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606285 ms (missed cycles : 3). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606285 ms (missed cycles : 3).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355882 ms (missed cycles : 3). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355882 ms (missed cycles : 3).[0m ×2 + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561985 ms (missed cycles : 3). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561985 ms (missed cycles : 3).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269784 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269784 ms (missed cycles : 3).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858274 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858274 ms (missed cycles : 3).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088222 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088222 ms (missed cycles : 3).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408947 ms (missed cycles : 3). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408947 ms (missed cycles : 3).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3).[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3).[0m ×2 + 46.49sWARNstate_estimatorOptimization exceeded the configured duration by 39547274ns + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 47.91sINFOjoint_trajectory_controllerGoal reached, success! + 47.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 47.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 48.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 49.68sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 49.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	138 warnings · 194 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592455 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592455 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824308 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824308 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787704879.05266523 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475722 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475722 ms (missed cycles : 3).[0m ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453250 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453250 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787704880.64911962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359405 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359405 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960446 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960446 ms (missed cycles : 3).[0m ×2 + 6.58sWARNstate_estimatorOptimization exceeded the configured duration by 143900766ns + 6.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851543 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851543 ms (missed cycles : 4).[0m ×2 + 7.89sINFOros2_control_nodeMuJoCo sim: 3.93% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144357 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144357 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925239 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925239 ms (missed cycles : 2).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.747ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279472 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279472 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.293ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663894 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663894 ms (missed cycles : 3).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.821ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572428 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572428 ms (missed cycles : 3).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450344 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450344 ms (missed cycles : 3).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.241ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.515ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283646 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283646 ms (missed cycles : 3).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 15.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.563ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.973ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283644 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283644 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 16.58sWARNstate_estimatorOptimization exceeded the configured duration by 44062832ns + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.591ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.382ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432002 ms (missed cycles : 4). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432002 ms (missed cycles : 4).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.599ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.087ms + 17.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034293 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034293 ms (missed cycles : 4).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.252ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020942 ms (missed cycles : 4). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020942 ms (missed cycles : 4).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319566 ms (missed cycles : 6). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319566 ms (missed cycles : 6).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.460ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.109ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730019 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730019 ms (missed cycles : 2).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.478ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791277 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791277 ms (missed cycles : 3).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204800 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204800 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.319ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641697 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641697 ms (missed cycles : 3).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.788ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435922 ms (missed cycles : 3). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435922 ms (missed cycles : 3).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.839ms + 26.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.617ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.850ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575641 ms (missed cycles : 3). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575641 ms (missed cycles : 3).[0m ×2 + 26.74sWARNstate_estimatorOptimization exceeded the configured duration by 7798315ns + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.746ms + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.657ms + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047939 ms (missed cycles : 4). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047939 ms (missed cycles : 4).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 28.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.09sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.549ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.368ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709829 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709829 ms (missed cycles : 3).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.634ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.273ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.769ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548520 ms (missed cycles : 4). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548520 ms (missed cycles : 4).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 30.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.999ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832721 ms (missed cycles : 4). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832721 ms (missed cycles : 4).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.297ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 32.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.282ms + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 34.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4).[0m ×2 + 35.33sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787704911.50937653 seconds ×3 + 35.47sWARNlocal_costmap.local_costmapSensor origin at (-4.38, 18.57) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 35.47sWARNlocal_costmap.local_costmapSensor origin at (-5.28, 18.56) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 35.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 35.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787704912.10081840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3).[0m ×2 + 36.36sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 36.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.69sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2).[0m ×2 + 37.05sWARNstate_estimatorOptimization exceeded the configured duration by 15168771ns
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.9s	143 warnings · 195 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803647 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803647 ms (missed cycles : 3).[0m ×2 + 0.33sWARNglobal_costmap.global_costmapSensor origin at (37.49, 80.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.33sWARNglobal_costmap.global_costmapSensor origin at (36.73, 80.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825482 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825482 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 1.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.33sWARNglobal_costmap.global_costmapSensor origin at (37.58, 80.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.33sWARNglobal_costmap.global_costmapSensor origin at (36.85, 80.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189525 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189525 ms (missed cycles : 3).[0m ×2 + 2.33sWARNglobal_costmap.global_costmapSensor origin at (37.57, 80.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.33sWARNglobal_costmap.global_costmapSensor origin at (36.86, 80.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 3.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.33sWARNglobal_costmap.global_costmapSensor origin at (37.40, 80.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.33sWARNglobal_costmap.global_costmapSensor origin at (36.76, 80.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729897 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729897 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 3.57sWARNstate_estimatorOptimization exceeded the configured duration by 3096547ns + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.369ms + 4.33sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.33sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×6 + 4.35sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.35sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705118.20614886 seconds ×3 + 4.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.38sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516412 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516412 ms (missed cycles : 2).[0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-15.27, 64.82) is out of map bounds (-15.20, 50.60) to (-10.23, 55.57). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-16.17, 64.85) is out of map bounds (-15.20, 50.60) to (-10.23, 55.57). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-14.28, 60.97) is out of map bounds (-18.20, 62.30) to (-13.23, 67.27). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-15.19, 61.03) is out of map bounds (-18.20, 62.30) to (-13.23, 67.27). The costmap cannot raytrace for it. + 4.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.180ms + 4.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.080ms + 4.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705118.80577135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.33sWARNglobal_costmap.global_costmapSensor origin at (36.66, 80.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016878 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016878 ms (missed cycles : 3).[0m ×2 + 5.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 222.2 s (AMCL untrusted, spread=4.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 222.2 s (AMCL untrusted, spread=4.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.33sWARNglobal_costmap.global_costmapSensor origin at (37.28, 80.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.33sWARNglobal_costmap.global_costmapSensor origin at (36.65, 80.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470612 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470612 ms (missed cycles : 3).[0m ×2 + 7.33sWARNglobal_costmap.global_costmapSensor origin at (37.29, 80.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597077 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597077 ms (missed cycles : 4).[0m ×2 + 7.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 224.4 s (AMCL untrusted, spread=4.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 224.4 s (AMCL untrusted, spread=4.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587592 ms (missed cycles : 5). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587592 ms (missed cycles : 5).[0m ×2 + 9.33sWARNglobal_costmap.global_costmapSensor origin at (37.30, 80.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610960 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610960 ms (missed cycles : 3).[0m ×2 + 9.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 226.6 s (AMCL untrusted, spread=4.57); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 226.6 s (AMCL untrusted, spread=4.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.24sINFOros2_control_nodeMuJoCo sim: 7.96% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697388 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697388 ms (missed cycles : 3).[0m ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 11.33sWARNglobal_costmap.global_costmapSensor origin at (37.31, 80.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 11.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.68sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493395 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493395 ms (missed cycles : 3).[0m ×2 + 11.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 228.6 s (AMCL untrusted, spread=4.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 228.6 s (AMCL untrusted, spread=4.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 12.24sINFOobjective_server_nodeFound path in 51 iterations (0.0505425 s). ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____X] ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786315 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786315 ms (missed cycles : 3).[0m ×2 + 12.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.32sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074239 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074239 ms (missed cycles : 3).[0m ×2 + 14.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 230.8 s (AMCL untrusted, spread=4.56); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 230.8 s (AMCL untrusted, spread=4.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.33sWARNglobal_costmap.global_costmapSensor origin at (37.33, 80.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.33sWARNglobal_costmap.global_costmapSensor origin at (36.68, 80.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.39sWARNstate_estimatorOptimization exceeded the configured duration by 21661892ns + 14.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.608ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273229 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273229 ms (missed cycles : 3).[0m ×2 + 15.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.024ms + 15.33sWARNglobal_costmap.global_costmapSensor origin at (37.50, 79.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.33sWARNglobal_costmap.global_costmapSensor origin at (36.86, 80.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.892ms + 16.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.921ms + 16.33sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.33sWARNglobal_costmap.global_costmapSensor origin at (37.20, 80.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.43sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.769ms + 16.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4).[0m ×2 + 17.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.812ms + 17.33sWARNglobal_costmap.global_costmapSensor origin at (38.15, 79.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.33sWARNglobal_costmap.global_costmapSensor origin at (37.53, 79.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.006ms + 17.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.943ms + 18.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4).[0m ×2 + 18.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.312ms + 18.33sWARNglobal_costmap.global_costmapSensor origin at (38.36, 79.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.33sWARNglobal_costmap.global_costmapSensor origin at (37.75, 79.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.296ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2).[0m ×2 + 19.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705133.15531278 seconds ×3 + 19.33sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.33sWARNglobal_costmap.global_costmapSensor origin at (37.83, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705133.78860497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.95sINFOmove_groupClearing octomap...[0m ×2 + 19.96sINFOmove_groupOctomap cleared.[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3).[0m ×2 + 20.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.33sWARNglobal_costmap.global_costmapSensor origin at (38.44, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.33sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705134.26873994 seconds ×3 + 21.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705134.85389662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2).[0m ×2 + 21.33sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.33sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705135.66404319 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.9s	101 errors · 83 warnings · 450 info
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.921ms + 0.30sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.30sWARNglobal_costmap.global_costmapSensor origin at (37.20, 80.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.769ms + 0.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.812ms + 1.30sWARNglobal_costmap.global_costmapSensor origin at (38.15, 79.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.30sWARNglobal_costmap.global_costmapSensor origin at (37.53, 79.96) 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 - 5.006ms + 1.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.943ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.312ms + 2.30sWARNglobal_costmap.global_costmapSensor origin at (38.36, 79.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.30sWARNglobal_costmap.global_costmapSensor origin at (37.75, 79.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.296ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705133.15531278 seconds ×3 + 3.30sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.30sWARNglobal_costmap.global_costmapSensor origin at (37.83, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705133.78860497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.93sINFOmove_groupOctomap cleared.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3).[0m ×2 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.30sWARNglobal_costmap.global_costmapSensor origin at (38.44, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.30sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705134.26873994 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705134.85389662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2).[0m ×2 + 5.30sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×8 + 5.30sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×8 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705135.66404319 seconds ×3 + 6.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 239.0 s (AMCL untrusted, spread=3.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803347 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803347 ms (missed cycles : 2).[0m ×2 + 6.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 239.0 s (AMCL untrusted, spread=3.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590673 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590673 ms (missed cycles : 3).[0m ×2 + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 241.2 s (AMCL untrusted, spread=3.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 241.2 s (AMCL untrusted, spread=3.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005835 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005835 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607043 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607043 ms (missed cycles : 2).[0m ×2 + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 243.2 s (AMCL untrusted, spread=3.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 243.2 s (AMCL untrusted, spread=3.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610873 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610873 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679369 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679369 ms (missed cycles : 3).[0m ×2 + 11.82sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 11.86sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.86sERRORweb_video_auth_proxy-38process has died [pid 9760, 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 + 11.87sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 11.89sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORweb_bridge_auth_proxy-37process has died [pid 9759, 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 + 11.90sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.98sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.98sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 12.04sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 12.07sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 12.07sINFOvideo_server-36process has finished cleanly [pid 9758] ×2 + 12.08sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 12.10sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 12.13sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 12.16sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 12.19sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 12.23sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 12.26sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 12.30sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 12.33sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 12.36sINFOtf2_web_republisher_node-35process has finished cleanly [pid 9757] ×2 + 12.37sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 12.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 245.2 s (AMCL untrusted, spread=3.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.41sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 12.46sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 12.46sINFOcontroller_managerShutdown request received.... + 12.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.46sINFOcontroller_managerShutting down the controller manager. + 12.48sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787705142.040 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.50sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 12.51sINFOui_teleop_bridge-33process has finished cleanly [pid 9755] ×2 + 12.51sERRORmove_group-24process has died [pid 9706, 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_31dpsxia --params-file /tmp/launch_params_bap6eioy --params-file /tmp/launch_params_hwafnus5 --params-file /tmp/launch_params_l8z2dvcp --params-file /tmp/launch_params_o5bgk9gq --params-file /tmp/launch_params_w4m0fra6']. ×2 + 12.51sINFOcomponent_container_mt-31process has finished cleanly [pid 9748] ×2 + 12.53sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.56sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.57sINFOexecute_objective_bridge-32process has finished cleanly [pid 9751] ×2 + 12.59sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] ×2 + 12.60sWARNamcl_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. + 12.62sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] ×2 + 12.65sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] ×2 + 12.68sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] ×2 + 12.71sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 12.74sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.77sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.77sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.77sINFOmap_serverDeactivating + 12.77sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.78sINFOmap_serverCleaning up + 12.78sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.78sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.79sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.79sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.79sINFOcontroller_serverDeactivating + 12.79sINFOlocal_costmap.local_costmapDeactivating + 12.80sINFOvideo_server2026/08/26 00:45:41 INF shutting down gracefully ×2 + 12.80sINFOvideo_server2026/08/26 00:45:41 INF [WebRTC] closing ×2 + 12.80sINFOvideo_server2026/08/26 00:45:41 INF [RTSP] closing ×2 + 12.80sINFOvideo_server2026/08/26 00:45:41 INF waiting for running hooks ×2 + 12.80sERRORamclThe bond connection to the lifecycle manager has been broken + 12.80sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.80sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.81sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.81sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.81sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.81sERRORmove_groupStack trace (most recent call last) in thread 10369: ×2 + 12.81sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.81sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac166d1b63, in __clone ×2 + 12.81sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac16644b83, in ×2 + 12.81sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac168d6db3, in ×2 + 12.81sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fac17047637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.81sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac16c68620, in rclcpp::Rate::sleep() ×2 + 12.81sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac16baad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.81sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac16b6c087, in ×2 + 12.81sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac168a5390, in __cxa_throw ×2 + 12.81sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac1688fa54, in std::terminate() ×2 + 12.81sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac168a50d9, in ×2 + 12.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac1688fff4, in ×2 + 12.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac165d08fe, in abort ×2 + 12.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac165ed27d, in raise ×2 + 12.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac16646c0c, in pthread_kill ×2 + 12.82sERRORmove_groupAborted (Signal sent by tkill() 9706 0) ×2 + 12.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 245.2 s (AMCL untrusted, spread=3.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.83sWARNamcl_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 + 12.83sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 101, in <module> ×2 + 12.83sINFOodom_qos_relay.pymain() ×2 + 12.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 95, in main ×2 + 12.83sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.83sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.83sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.83sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.83sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.83sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.83sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.83sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.83sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.83sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 12.83sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.83sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.83sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.84sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.89sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.90sINFOcontroller_serverCleaning up + 12.90sINFOlocal_costmap.local_costmapCleaning up + 12.94sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.94sINFOsmoother_serverDeactivating + 12.94sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.95sINFOsmoother_serverCleaning up + 12.96sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.96sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.96sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.96sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.96sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.96sINFOvelocity_smootherDeactivating + 12.96sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.97sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.97sINFOplanner_serverDeactivating + 12.97sINFOglobal_costmap.global_costmapDeactivating + 13.07sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 13.07sINFOwaypoint_followerDeactivating + 13.07sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 13.09sERRORcomponent_container_isolated-2process has died [pid 9600, 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_hi8r8dh6 --params-file /tmp/launch_params_c9puv1pq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.18sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 13.18sINFObt_navigatorDeactivating + 13.18sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.30sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.30sINFObehavior_serverDeactivating + 13.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.30sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.30sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.31sINFOplanner_serverCleaning up + 13.32sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 9742] ×2 + 13.33sINFOglobal_costmap.global_costmapCleaning up + 13.34sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.34sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.36sINFOmove_joint_resampler_node-27process has finished cleanly [pid 9741] ×2 + 13.37sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.37sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.37sINFObt_navigatorCleaning up + 13.40sINFOobjective_server_node[2026-08-26 00:45:43.262] [moveit_pro_license] [critical] ×2 + 13.40sINFOobjective_server_node************************************************* ×4 + 13.40sINFOobjective_server_node* MoveIt Pro License ×2 + 13.40sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.41sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.41sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.41sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.41sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.41sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.41sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.42sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.42sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.42sINFOvelocity_smootherCleaning up + 13.42sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.42sINFOwaypoint_followerCleaning up + 13.44sINFOwaypoint_manager_node-26process has finished cleanly [pid 9740] ×2 + 13.44sINFOcomponent_container_mt-30process has finished cleanly [pid 9745] ×2 + 13.44sINFOparameter_manager_node-25process has finished cleanly [pid 9739] ×2 + 13.45sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.46sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.46sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 13.46sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.46sINFObehavior_serverCleaning up + 13.48sINFOobjective_server_node_main-29process has finished cleanly [pid 9744] ×2 + 13.48sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 13.51sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.52sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.52sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.52sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.52sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.52sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.52sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.54sINFObt_navigatorCompleted Cleaning up + 13.54sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.54sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.54sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.58sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 9689] ×2 + 13.61sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 9607] ×2 + 13.64sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 9690] ×2 + 13.72sINFOslip_aware_odom-5process has finished cleanly [pid 9603] ×2 + 13.73sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 9606] ×2 + 13.74sERRORodom_qos_relay.py-7process has died [pid 9605, 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 + 13.78sINFOstatic_transform_publisher-3process has finished cleanly [pid 9601] ×2 + 13.87sERRORcomponent_container_isolated-1process has died [pid 9599, 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_hi8r8dh6 --params-file /tmp/launch_params_xn4_xoo2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.69sINFOamcl_odom_gate-6process has finished cleanly [pid 9604] ×2 + 14.74sINFOodom_world_drift-4process has finished cleanly [pid 9602] ×2 + 15.18sINFOweb_bridge-34process has finished cleanly [pid 9756] ×2 + 15.18sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 15.20sINFOros2_control_node-12process has finished cleanly [pid 9691] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 94 warnings · 130 info
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.150ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242003 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242003 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.498ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398471 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398471 ms (missed cycles : 3).[0m ×2 + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.270ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332940 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332940 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.508ms + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.266ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487488 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487488 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787704968.34097838 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.235ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787704968.93637919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662811 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662811 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.101ms + 5.30sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404654 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404654 ms (missed cycles : 3).[0m ×2 + 6.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.2 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136806 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136806 ms (missed cycles : 4).[0m ×2 + 7.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.39sINFOjoint_trajectory_controllerReceived new action goal + 7.39sINFOjoint_trajectory_controllerAccepted new action goal + 7.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371011 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371011 ms (missed cycles : 3).[0m ×2 + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.4 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.4 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 9.10sWARNglobal_costmap.global_costmapSensor origin at (26.89, 36.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.10sWARNglobal_costmap.global_costmapSensor origin at (26.67, 37.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432580 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432580 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 9.85sWARNstate_estimatorOptimization exceeded the configured duration by 3837721ns + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 10.10sWARNglobal_costmap.global_costmapSensor origin at (27.25, 36.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.10sWARNglobal_costmap.global_costmapSensor origin at (27.03, 37.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.432ms + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149514 ms (missed cycles : 4). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149514 ms (missed cycles : 4).[0m ×2 + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.4 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.354ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 11.10sWARNglobal_costmap.global_costmapSensor origin at (27.70, 37.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.10sWARNglobal_costmap.global_costmapSensor origin at (27.47, 37.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.749ms + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958910 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958910 ms (missed cycles : 3).[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.475ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.241ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 12.10sWARNglobal_costmap.global_costmapSensor origin at (28.12, 37.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.10sWARNglobal_costmap.global_costmapSensor origin at (27.88, 38.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988674 ms (missed cycles : 3). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988674 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 12.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 13.10sWARNglobal_costmap.global_costmapSensor origin at (28.55, 37.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.10sWARNglobal_costmap.global_costmapSensor origin at (28.34, 38.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147515 ms (missed cycles : 4). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147515 ms (missed cycles : 4).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 14.10sWARNglobal_costmap.global_costmapSensor origin at (28.98, 37.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.10sWARNglobal_costmap.global_costmapSensor origin at (28.78, 38.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.353ms + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026277 ms (missed cycles : 3). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026277 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.8 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 14.92sINFOobjective_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 + 14.93sINFOjoint_trajectory_controllerGot request to cancel goal + 14.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.94sERRORobjective_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: 1787704979.00211358 seconds ×3 + 15.10sWARNglobal_costmap.global_costmapSensor origin at (30.57, 38.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.10sWARNglobal_costmap.global_costmapSensor origin at (30.33, 39.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.959ms + 15.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.820ms + 15.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787704979.59224653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475361 ms (missed cycles : 4). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475361 ms (missed cycles : 4).[0m ×2 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 16.10sWARNglobal_costmap.global_costmapSensor origin at (29.43, 38.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 16.10sWARNglobal_costmap.global_costmapSensor origin at (29.25, 39.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333477 ms (missed cycles : 4). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333477 ms (missed cycles : 4).[0m ×2 + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=1.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	43 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592455 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592455 ms (missed cycles : 4).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824308 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824308 ms (missed cycles : 2).[0m ×2 + 10.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787704879.05266523 seconds ×3 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475722 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475722 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453250 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453250 ms (missed cycles : 3).[0m ×2 + 11.66sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787704880.64911962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.05sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359405 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359405 ms (missed cycles : 4).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960446 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960446 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	84 warnings · 101 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.814ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.101ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547308 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547308 ms (missed cycles : 3).[0m ×2 + 0.80sWARNglobal_costmap.global_costmapSensor origin at (39.65, 51.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.80sWARNglobal_costmap.global_costmapSensor origin at (39.18, 52.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.451ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.022ms + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742038 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742038 ms (missed cycles : 5).[0m ×2 + 1.80sWARNglobal_costmap.global_costmapSensor origin at (40.16, 51.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.80sWARNglobal_costmap.global_costmapSensor origin at (39.57, 52.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.638ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.70sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947469 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947469 ms (missed cycles : 2).[0m ×2 + 2.80sWARNglobal_costmap.global_costmapSensor origin at (40.47, 51.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.80sWARNglobal_costmap.global_costmapSensor origin at (39.81, 52.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.989ms + 3.80sWARNglobal_costmap.global_costmapSensor origin at (40.64, 51.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.80sWARNglobal_costmap.global_costmapSensor origin at (39.94, 52.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152162 ms (missed cycles : 5). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152162 ms (missed cycles : 5).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.358ms + 4.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705054.65246606 seconds ×3 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 4.80sWARNglobal_costmap.global_costmapSensor origin at (40.53, 51.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.80sWARNglobal_costmap.global_costmapSensor origin at (40.14, 52.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253459 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253459 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705055.23643374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.90sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.80sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733153 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733153 ms (missed cycles : 3).[0m ×2 + 6.34sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 7.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 8.80sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 9.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.10sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 10.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 10.80sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.80sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 11.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.30sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.80sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 11.80sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	31 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 39547274ns + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2 + 7.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 7.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787704815.46905255 seconds ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2).[0m ×2 + 8.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787704816.05362034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	49 warnings · 85 info
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.024ms + 0.10sWARNglobal_costmap.global_costmapSensor origin at (37.50, 79.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.10sWARNglobal_costmap.global_costmapSensor origin at (36.86, 80.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.892ms + 0.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.921ms + 1.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.10sWARNglobal_costmap.global_costmapSensor origin at (37.20, 80.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.769ms + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.812ms + 2.10sWARNglobal_costmap.global_costmapSensor origin at (38.15, 79.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.10sWARNglobal_costmap.global_costmapSensor origin at (37.53, 79.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.006ms + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.943ms + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.312ms + 3.10sWARNglobal_costmap.global_costmapSensor origin at (38.36, 79.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.10sWARNglobal_costmap.global_costmapSensor origin at (37.75, 79.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.296ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2).[0m ×2 + 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: 1787705133.15531278 seconds ×3 + 4.10sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.10sWARNglobal_costmap.global_costmapSensor origin at (37.83, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705133.78860497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.73sINFOmove_groupClearing octomap...[0m ×2 + 4.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3).[0m ×2 + 4.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.10sWARNglobal_costmap.global_costmapSensor origin at (38.44, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705134.26873994 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705134.85389662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2).[0m ×2 + 6.10sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705135.66404319 seconds ×3 + 6.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 239.0 s (AMCL untrusted, spread=3.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803347 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803347 ms (missed cycles : 2).[0m ×2 + 7.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 239.0 s (AMCL untrusted, spread=3.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 1.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 0.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.60sINFOjoint_trajectory_controllerReceived new action goal + 2.60sINFOjoint_trajectory_controllerAccepted new action goal + 2.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 4.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787704815.46905255 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258164 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787704816.05362034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305182 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516723 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	22 warnings · 54 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.297ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.282ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787704911.50937653 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.38, 18.57) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-5.28, 18.56) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787704912.10081840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2).[0m ×2 + 5.85sWARNstate_estimatorOptimization exceeded the configured duration by 15168771ns
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	41 warnings · 85 info
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.024ms + 0.10sWARNglobal_costmap.global_costmapSensor origin at (37.50, 79.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.10sWARNglobal_costmap.global_costmapSensor origin at (36.86, 80.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041623 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.892ms + 0.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.8 s (AMCL untrusted, spread=4.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.921ms + 1.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.10sWARNglobal_costmap.global_costmapSensor origin at (37.20, 80.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.769ms + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007381 ms (missed cycles : 4).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.812ms + 2.10sWARNglobal_costmap.global_costmapSensor origin at (38.15, 79.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.10sWARNglobal_costmap.global_costmapSensor origin at (37.53, 79.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.006ms + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.943ms + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.8 s (AMCL untrusted, spread=3.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402800 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.312ms + 3.10sWARNglobal_costmap.global_costmapSensor origin at (38.36, 79.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.10sWARNglobal_costmap.global_costmapSensor origin at (37.75, 79.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.296ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740064 ms (missed cycles : 2).[0m ×2 + 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: 1787705133.15531278 seconds ×3 + 4.10sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.10sWARNglobal_costmap.global_costmapSensor origin at (37.83, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705133.78860497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.73sINFOmove_groupClearing octomap...[0m ×2 + 4.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334696 ms (missed cycles : 3).[0m ×2 + 4.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 237.0 s (AMCL untrusted, spread=3.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.10sWARNglobal_costmap.global_costmapSensor origin at (38.44, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705134.26873994 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705134.85389662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722954 ms (missed cycles : 2).[0m ×2 + 6.10sWARNglobal_costmap.global_costmapSensor origin at (38.45, 79.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.10sWARNglobal_costmap.global_costmapSensor origin at (37.82, 79.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705135.66404319 seconds ×3
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	22 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 39547274ns + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	22 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937706 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710126 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670031 ms (missed cycles : 3).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 39547274ns + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941116 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787704811.98773813 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286171 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787704812.56891346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312924 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.0859e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039038 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	22 warnings · 54 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	22 warnings · 54 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	22 warnings · 54 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	22 warnings · 54 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728912 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766497 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346069 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755439 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 3.62sWARNstate_estimatorOptimization exceeded the configured duration by 9641121ns + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787704872.74388027 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818581 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787704873.34250402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (7.48e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865924 ms (missed cycles : 3).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319892 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.297ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.282ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787704911.50937653 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.38, 18.57) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-5.28, 18.56) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787704912.10081840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2).[0m ×2 + 5.85sWARNstate_estimatorOptimization exceeded the configured duration by 15168771ns
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.555ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256576 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.297ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.949ms + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.29sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922752 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.282ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549352 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267627 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787704911.50937653 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.38, 18.57) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-5.28, 18.56) is out of map bounds (-9.20, 22.15) to (-4.22, 27.13). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787704912.10081840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866340 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.49sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=7.64); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268826 ms (missed cycles : 2).[0m ×2 + 5.85sWARNstate_estimatorOptimization exceeded the configured duration by 15168771ns
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	45 warnings · 42 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 76329ns + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.50, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 0.46sWARNglobal_costmap.global_costmapSensor origin at (40.18, 52.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809379 ms (missed cycles : 3).[0m ×2 + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730905 ms (missed cycles : 4).[0m ×2 + 2.46sWARNglobal_costmap.global_costmapSensor origin at (40.51, 51.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100106 ms (missed cycles : 4).[0m ×2 + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368391 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705061.07658219 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.74, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214338 ms (missed cycles : 3).[0m ×2 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705061.67551041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.73, 68.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.46sWARNglobal_costmap.global_costmapSensor origin at (30.10, 69.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868981 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750357 ms (missed cycles : 3).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660754 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	teleoperate.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	22 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns + 6.80sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142847 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 1.05% 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 4.156559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156559 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945791 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704766.35860944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704766.36883855 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428363 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704766.96685386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704766.97697949 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704767.56191492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704767.71254110 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374280 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704768.34111667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704768.40126252 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921415 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787704768.98791456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977301 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.78sWARNstate_estimatorOptimization exceeded the configured duration by 49437234ns