MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.3s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.4s	12 errors · 334 warnings · 1400 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/2026-08-26-00-47-55-773712-27fed9bb712c-9481 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 14.00sINFOstatic_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' + 14.04sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast. ×4 + 14.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.10sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.14sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.20sINFOcontroller_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. + 14.23sINFOros2_control_node-12process started with pid [9620] ×2 + 14.23sINFOmove_group-24process started with pid [9636] ×2 + 14.23sINFOparameter_manager_node-25process started with pid [9668] ×2 + 14.23sINFOwaypoint_manager_node-26process started with pid [9670] ×2 + 14.25sINFOmove_joint_resampler_node-27process started with pid [9671] ×2 + 14.25sINFOmove_end_effector_resampler_node-28process started with pid [9672] ×2 + 14.25sINFOobjective_server_node_main-29process started with pid [9673] ×2 + 14.25sINFOcomponent_container_mt-30process started with pid [9674] ×2 + 14.25sINFOcomponent_container_mt-31process started with pid [9675] ×2 + 14.25sINFOexecute_objective_bridge-32process started with pid [9676] ×2 + 14.25sINFOui_teleop_bridge-33process started with pid [9677] ×2 + 14.25sINFOweb_bridge-34process started with pid [9678] ×2 + 14.25sINFOtf2_web_republisher_node-35process started with pid [9679] ×2 + 14.25sINFOvideo_server-36process started with pid [9680] ×2 + 14.25sINFOweb_bridge_auth_proxy-37process started with pid [9681] ×2 + 14.25sINFOweb_video_auth_proxy-38process started with pid [9682] ×2 + 14.25sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.26sINFOcomponent_container_isolated-1process started with pid [9531] ×2 + 14.26sINFOcomponent_container_isolated-2process started with pid [9532] ×2 + 14.26sINFOstatic_transform_publisher-3process started with pid [9533] ×2 + 14.26sINFOcontroller_serverCreating controller server + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.29sINFOodom_world_drift-4process started with pid [9534] ×2 + 14.29sINFOslip_aware_odom-5process started with pid [9535] ×2 + 14.29sINFOamcl_odom_gate-6process started with pid [9536] ×2 + 14.29sINFOodom_qos_relay.py-7process started with pid [9537] ×2 + 14.29sINFOforward_stereo_publisher.py-8process started with pid [9538] ×2 + 14.29sINFOscan_to_scan_filter_chain-9process started with pid [9539] ×2 + 14.29sINFOscan_to_scan_filter_chain-10process started with pid [9618] ×2 + 14.29sINFOfixed_lag_smoother_node-11process started with pid [9619] ×2 + 14.29sINFOros2-13process started with pid [9621] ×2 + 14.29sINFOros2-14process started with pid [9622] ×2 + 14.29sINFOros2-15process started with pid [9623] ×2 + 14.29sINFOros2-16process started with pid [9624] ×2 + 14.29sINFOros2-17process started with pid [9625] ×2 + 14.29sINFOros2-18process started with pid [9626] ×2 + 14.29sINFOros2-19process started with pid [9627] ×2 + 14.29sINFOros2-20process started with pid [9628] ×2 + 14.29sINFOros2-21process started with pid [9629] ×2 + 14.29sINFOros2-22process started with pid [9630] ×2 + 14.29sINFOros2-23process started with pid [9635] ×2 + 14.29sINFOlocal_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. + 14.30sINFOlocal_costmap.local_costmapCreating Costmap + 14.31sINFOmap_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. + 14.31sINFOmap_serverCreating + 14.32sINFOstate_estimatorReceived a set_pose request (stamp: 1787705293556248571, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.36sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.38sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.39sINFOcontroller_managerupdate rate is 600 Hz + 14.40sINFOcontroller_managerOverruns handling is : enabled + 14.40sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.40sWARNcontroller_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. + 14.43sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×2 + 14.43sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×2 + 14.43sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 14.43sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 14.43sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.43sINFOsmoother_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. + 14.43sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. + 14.44sINFOsmoother_serverCreating smoother server + 14.46sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast.[0m ×8 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233823 ms (missed cycles : 2). + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.49sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.50sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.50sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 14.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.51sINFOlifecycle_manager_localizationCreating + 14.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.52sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.53sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.53sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.53sWARNros2_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 + 14.54sINFOplanner_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. + 14.54sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.55sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.55sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.55sINFOmap_serverConfiguring + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233823 ms (missed cycles : 2).[0m ×2 + 14.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.57sINFOplanner_serverCreating + 14.57sINFOrobot_state_publisherRobot initialized + 14.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.57sWARNslip_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 + 14.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.58sINFOcontroller_managerReceived robot description from topic. + 14.58sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.60sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.61sINFOglobal_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. + 14.61sINFOglobal_costmap.global_costmapCreating Costmap + 14.61sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.61sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.61sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.61sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.61sINFOvideo_server2026/08/26 00:48:13 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.61sINFOvideo_server2026/08/26 00:48:13 INF configuration loaded from /tmp/moveit-webrtc-nqklhs22/mediamtx.yml ×2 + 14.62sINFOvideo_server2026/08/26 00:48:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.62sINFOvideo_server2026/08/26 00:48:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.67sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.67sINFOamclConfiguring + 14.67sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.67sINFOmap_serverActivating + 14.68sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.70sINFObehavior_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. + 14.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.71sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.71sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.79sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.79sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.80sINFOamclActivating + 14.80sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.80sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.82sINFObt_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. + 14.82sINFOamclSubscribed to map_topic: /map + 14.82sINFOamclSubscribed to scan_topic: /scan_merged + 14.83sINFOamclCreated reinitialize_global_localization service + 14.83sINFOamclCreated request_nomotion_update service + 14.83sINFOamclA new map was received + 14.83sINFOamclInitializing particle filter instance + 14.86sINFObt_navigatorCreating + 14.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.94sINFOwaypoint_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. + 14.96sINFOwaypoint_followerCreating + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.02sWARNlaser_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. + 15.02sINFOvelocity_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. + 15.03sWARNscan_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 + 15.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.12sINFOlifecycle_manager_navigationCreating + 15.13sWARNlaser_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. + 15.14sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.19sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.19sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.19sINFOcontroller_serverConfiguring controller interface + 15.19sINFOcontroller_servergetting progress checker plugins.. + 15.19sINFOcontroller_servergetting goal checker plugins.. + 15.19sINFOcontroller_serverController frequency set to 20.0000Hz + 15.19sINFOlocal_costmap.local_costmapConfiguring + 15.20sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.23sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.28sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.28sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.28sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.31sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.33sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.34sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.35sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.463349 seconds + 15.35sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.35sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.35sINFOmove_groupLoaded robot model in 0.463349 seconds[0m ×2 + 15.35sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.35sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.35sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.41sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.41sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.41sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.41sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.43sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.43sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.43sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.44sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.44sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.44sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.45sINFOcontroller_serverOptimizer reset ×2 + 15.47sINFOamclParticle filter initialization completed + 15.47sINFOamclInitializing particles from estimated pose and covariance + 15.47sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 15.47sINFOcontroller_serverController Server has FollowPath controllers available. + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.448120 ms (missed cycles : 7). + 15.49sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.49sINFOsmoother_serverConfiguring smoother server + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.448120 ms (missed cycles : 7).[0m ×2 + 15.51sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.51sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.51sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.51sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.52sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.53sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.53sINFOplanner_serverConfiguring + 15.53sINFOglobal_costmap.global_costmapConfiguring + 15.54sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.56sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.57sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.58sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.60sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.60sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.62sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.67sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.67sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.67sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.68sINFOplanner_serverPlanner Server has GridBased planners available. + 15.71sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.71sINFObehavior_serverConfiguring + 15.72sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.73sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.73sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.75sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.76sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.76sINFObehavior_serverConfiguring spin + 15.79sINFObehavior_serverConfiguring backup + 15.81sINFObehavior_serverConfiguring drive_on_heading + 15.82sINFObehavior_serverConfiguring assisted_teleop + 15.86sINFObehavior_serverConfiguring wait + 15.87sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.87sINFObt_navigatorConfiguring + 15.90sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.91sWARNbt_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 + 16.24sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.35sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.35sINFOwaypoint_followerConfiguring + 16.36sINFOwaypoint_manager_nodeLoaded robot model in 0.40168 seconds[0m ×2 + 16.37sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.37sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.40sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.41sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.41sINFOvelocity_smootherConfiguring velocity smoother + 16.43sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.43sINFOcontroller_serverActivating + 16.43sINFOlocal_costmap.local_costmapActivating + 16.43sINFOlocal_costmap.local_costmapChecking transform + 16.43sINFOlocal_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 ×11 + 16.50sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 16.50sWARNslip_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 + 16.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.66sWARNmove_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 + 16.66sWARNmove_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 + 16.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.67sWARNmove_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. + 16.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594913 ms (missed cycles : 3). + 16.68sWARNmove_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. + 16.68sWARNmove_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 + 16.68sWARNmove_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 + 16.68sWARNmove_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 + 16.68sWARNmove_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. + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594913 ms (missed cycles : 3).[0m ×2 + 16.68sWARNmove_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 + 16.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.71sWARNmove_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 + 16.71sWARNmove_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 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 17.00sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 17.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 17.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 17.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 17.06sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 17.33sINFOwaypoint_manager_node[2026-08-26 00:48:16.562] [moveit_pro_license] [info] ×2 + 17.33sINFOwaypoint_manager_node************************************************* ×4 + 17.33sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.33sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.34sINFOmove_group[2026-08-26 00:48:16.574] [moveit_pro_license] [info] ×2 + 17.34sINFOmove_group************************************************* ×4 + 17.34sINFOmove_group* MoveIt Pro License ×2 + 17.34sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.80sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.80sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.81sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.81sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.81sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.81sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.81sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.81sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.81sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.81sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.81sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.81sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.81sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.82sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.82sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.82sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.97sINFOstreaming_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) + 17.97sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.97sINFOcomponent_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 + 17.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.03sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 18.03sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 18.03sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 18.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 18.03sWARNros2_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 + 18.03sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 18.03sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 18.03sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 18.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 18.03sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 18.03sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.03sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 18.03sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 18.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 18.03sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 18.03sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 18.03sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 18.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 18.03sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 18.03sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.03sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 18.04sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 18.04sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 18.04sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 18.04sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 18.04sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 18.04sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 18.04sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 18.04sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 18.04sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 18.04sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 18.04sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 18.04sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 18.04sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 18.04sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 18.04sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 18.04sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 18.04sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 18.06sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.06sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830299 ms (missed cycles : 2). + 18.07sWARNros2_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 + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830299 ms (missed cycles : 2).[0m ×2 + 18.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.15sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.17sINFOstreaming_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) + 18.17sINFOcomponent_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 + 18.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.24sINFOobjective_server_node[2026-08-26 00:48:17.479] [moveit_pro_license] [info] ×2 + 18.24sINFOobjective_server_node************************************************* ×4 + 18.24sINFOobjective_server_node* MoveIt Pro License ×2 + 18.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.26sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.26sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.27sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.27sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 18.27sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 18.28sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.32sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 18.32sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 18.32sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.32sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.32sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.34sINFOcontroller_managerSuccessfully switched controllers! ×19 + 18.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 18.34sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 18.34sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.34sINFOobjective_server_nodeLoaded robot model in 0.0286835 seconds[0m ×2 + 18.35sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.35sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.43sWARNcomponent_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 + 18.50sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 18.50sWARNslip_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 + 18.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.68sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 18.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 18.74sINFOros2-17process has finished cleanly [pid 9625] ×2 + 18.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.76sINFOplatform_velocity_controllerconfigure successful + 18.76sINFOros2_control_nodeconfigure successful[0m ×6 + 18.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.77sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.84sINFOcomponent_container_mtLoaded robot model in 0.412499 seconds[0m ×2 + 18.84sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.84sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.87sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.88sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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 + 18.88sWARNobjective_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. + 18.88sWARNobjective_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 + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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 + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.88sWARNobjective_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 + 18.94sINFOobjective_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 + 18.94sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.95sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.95sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781702 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781702 ms (missed cycles : 2).[0m ×2 + 19.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 19.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 19.17sINFOros2-16process has finished cleanly [pid 9624] ×2 + 19.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 19.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 19.26sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787705297.390 for reason 'discarding message because the queue is full' + 19.28sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.28sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNcomponent_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 + 19.33sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.35sWARNcomponent_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 + 19.35sWARNplanning_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. + 19.35sWARNcomponent_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 + 19.35sWARNcomponent_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 + 19.35sWARNplanning_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. + 19.35sWARNcomponent_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 + 19.35sWARNcomponent_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 + 19.35sWARNcomponent_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 + 19.35sWARNcomponent_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 + 19.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.35sWARNcomponent_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 + 19.35sWARNcomponent_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 + 19.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.36sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.57sINFOmove_groupMoveGroup debug mode is ON + 19.57sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.68sINFOcomponent_container_mt[2026-08-26 00:48:18.912] [moveit_pro_license] [info] ×2 + 19.68sINFOcomponent_container_mt************************************************* ×4 + 19.68sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.68sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.74sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 19.74sINFOmove_group ×8 + 19.74sINFOmove_group****************************************************** ×4 + 19.74sINFOmove_group* MoveGroup using: ×2 + 19.74sINFOmove_group* - apply_planning_scene_service ×2 + 19.74sINFOmove_group* - clear_octomap_service ×2 + 19.74sINFOmove_group* - get_group_urdf ×2 + 19.74sINFOmove_group* - load_geometry_from_file ×2 + 19.74sINFOmove_group* - get_planning_scene_service ×2 + 19.74sINFOmove_group* - kinematics_service ×2 + 19.74sINFOmove_group* - save_geometry_to_file ×2 + 19.74sINFOmove_group* - GetPlanningGroups ×2 + 19.74sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.74sINFOmove_group[0m ×2 + 19.75sINFOmove_group[92mYou can start planning now![0m ×2 + 19.82sWARNros2_control_nodeCamera render tick took 0.74 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 + 19.85sINFOros2_control_node[2026-08-26 00:48:19.089] [info] Controller state will be published at 20 Hz. ×2 + 19.86sINFOros2_control_node[2026-08-26 00:48:19.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 19.97sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 19.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 19.97sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 20.03sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.03sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679040 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679040 ms (missed cycles : 2).[0m ×2 + 20.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 20.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 20.23sWARNobjective_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 + 20.24sINFOros2-22process has finished cleanly [pid 9630] ×2 + 20.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.36sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.36sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.36sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.68sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.68sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.68sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.68sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.72sINFOros2-19process has finished cleanly [pid 9627] ×2 + 20.75sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 20.75sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 20.81sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.81sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.82sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.82sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867150 ms (missed cycles : 3). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867150 ms (missed cycles : 3).[0m ×2 + 21.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.30sINFOros2_control_node[2026-08-26 00:48:20.536] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.30sINFOros2_control_node[2026-08-26 00:48:20.539] [info] Controller state will be published at 10 Hz. ×2 + 21.30sINFOros2_control_node[2026-08-26 00:48:20.540] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 21.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 21.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 21.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 21.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 21.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 21.70sINFOros2-21process has finished cleanly [pid 9629] ×2 + 21.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 21.75sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 21.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 21.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 21.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 21.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.77sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787705299.890 for reason 'discarding message because the queue is full' + 21.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.93sINFOlocal_costmap.local_costmapstart + 21.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.562ms + 22.03sWARNcontroller_serverParameter controller_server.verbose not found + 22.04sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 22.04sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 22.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.11sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 22.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.12sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915267 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915267 ms (missed cycles : 2).[0m ×2 + 22.15sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 22.15sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 22.15sINFOsmoother_serverActivating + 22.15sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 22.16sINFOros2-15process has finished cleanly [pid 9623] ×2 + 22.19sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.19sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.21sINFOplatform_velocity_controller_nav2configure successful + 22.26sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 22.26sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 22.26sINFOplanner_serverActivating + 22.26sINFOglobal_costmap.global_costmapActivating + 22.26sINFOglobal_costmap.global_costmapChecking transform + 22.26sINFOglobal_costmap.global_costmapstart + 22.62sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 22.62sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 22.62sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 22.62sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 22.62sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 22.62sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 22.66sINFOros2-18process has finished cleanly [pid 9626] ×2 + 22.68sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 22.68sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 22.68sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 22.69sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 22.69sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 22.69sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 22.69sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 22.69sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 22.93sWARNstate_estimatorOptimization exceeded the configured duration by 83414096ns + 23.04sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.04sINFOcontroller_managerLoading controller 'velocity_force_controller' + 23.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 23.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 23.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 23.09sINFOros2-14process has finished cleanly [pid 9622] ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248008 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248008 ms (missed cycles : 3).[0m ×2 + 23.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 23.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 23.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 23.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.31sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 23.31sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 23.42sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 23.42sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 23.42sINFObehavior_serverActivating + 23.42sINFObehavior_serverActivating spin + 23.42sINFObehavior_serverActivating backup + 23.42sINFObehavior_serverActivating drive_on_heading + 23.42sINFObehavior_serverActivating assisted_teleop + 23.42sINFObehavior_serverActivating wait + 23.42sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 23.52sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 23.52sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 23.52sINFObt_navigatorActivating + 23.60sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 23.70sINFOros2_control_node[2026-08-26 00:48:22.934] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.70sINFOros2_control_node[2026-08-26 00:48:22.936] [info] Controller state will be published at 10 Hz. ×2 + 23.70sINFOros2_control_node[2026-08-26 00:48:22.937] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.70sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 23.70sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 23.70sINFOwaypoint_followerActivating + 23.70sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 23.81sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 23.81sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 23.81sINFOvelocity_smootherActivating + 23.81sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 23.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 23.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 23.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 24.05sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 24.05sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 24.05sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 24.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 24.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 24.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 24.10sINFOros2-20process has finished cleanly [pid 9628] ×2 + 24.12sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 24.12sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 24.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 24.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438653 ms (missed cycles : 4). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438653 ms (missed cycles : 4).[0m ×2 + 24.68sINFOros2_control_node[2026-08-26 00:48:23.916] [info] Controller state will be published at 20 Hz. ×2 + 24.68sINFOros2_control_node[2026-08-26 00:48:23.917] [info] JointVelocityController 'on_configure' succeeded. ×2 + 25.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 25.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 25.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 25.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 25.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o + 25.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u32lgqmw --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_bhssj4ys --params-file /tmp/launch_params_pgezxn8o [0m ×2 + 25.08sINFOros2-23process has finished cleanly [pid 9635] ×2 + 25.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 25.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 25.12sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 25.12sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 25.12sINFOforce_torque_sensor_broadcasterconfigure successful + 25.13sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 25.13sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 25.13sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 25.13sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983278 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983278 ms (missed cycles : 2).[0m ×2 + 25.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 25.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.37sINFOros2_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 + 25.39sINFOros2_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 + 25.49sINFOros2-13process has finished cleanly [pid 9621] ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 28.07sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 30.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.58sINFOmove_groupClearing octomap...[0m ×2 + 30.58sINFOmove_groupOctomap cleared.[0m ×2 + 30.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 31.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 31.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 32.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 32.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 32.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 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	79.6s	3 errors · 549 warnings · 361 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 2816766ns + 0.01sWARNglobal_costmap.global_costmapSensor origin at (-29.32, 18.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.01sWARNglobal_costmap.global_costmapSensor origin at (-29.65, 17.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.430ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723654 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723654 ms (missed cycles : 3).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.785ms + 0.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.070ms + 0.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.128ms + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.01sWARNglobal_costmap.global_costmapSensor origin at (-29.85, 18.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.01sWARNglobal_costmap.global_costmapSensor origin at (-30.19, 17.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.895ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863703 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863703 ms (missed cycles : 3).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.503ms ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.726ms + 2.01sWARNglobal_costmap.global_costmapSensor origin at (-30.38, 18.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.01sWARNglobal_costmap.global_costmapSensor origin at (-30.70, 17.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 2.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.131ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839878 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839878 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.163ms + 2.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.6 s (AMCL untrusted, spread=1.94); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.6 s (AMCL untrusted, spread=1.94); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.01sWARNglobal_costmap.global_costmapSensor origin at (-30.92, 18.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.01sWARNglobal_costmap.global_costmapSensor origin at (-31.26, 17.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219227 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219227 ms (missed cycles : 2).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.991ms + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms ×3 + 4.01sWARNglobal_costmap.global_costmapSensor origin at (-31.41, 18.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.01sWARNglobal_costmap.global_costmapSensor origin at (-31.75, 17.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 4.20sINFOobjective_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 + 4.21sINFOjoint_trajectory_controllerGot request to cancel goal + 4.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.23sERRORobjective_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: 1787705521.71890974 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.674ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726554 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726554 ms (missed cycles : 4).[0m ×2 + 4.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 4.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787705522.30819774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.6 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.6 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.01sWARNglobal_costmap.global_costmapSensor origin at (-31.60, 18.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.01sWARNglobal_costmap.global_costmapSensor origin at (-32.06, 17.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913519 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913519 ms (missed cycles : 4).[0m ×2 + 6.01sWARNglobal_costmap.global_costmapSensor origin at (-31.62, 18.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.01sWARNglobal_costmap.global_costmapSensor origin at (-32.07, 17.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779663 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779663 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.10sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.10sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.10sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.8 s (AMCL untrusted, spread=1.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 55.8 s (AMCL untrusted, spread=1.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333741 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333741 ms (missed cycles : 3).[0m ×2 + 8.01sWARNglobal_costmap.global_costmapSensor origin at (-31.65, 18.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.01sWARNglobal_costmap.global_costmapSensor origin at (-32.08, 17.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777432 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777432 ms (missed cycles : 2).[0m ×2 + 9.01sWARNglobal_costmap.global_costmapSensor origin at (-31.88, 18.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.01sWARNglobal_costmap.global_costmapSensor origin at (-32.25, 17.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 9.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.8 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 57.8 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.255ms + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378643 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378643 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 10.01sWARNglobal_costmap.global_costmapSensor origin at (-32.31, 18.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.01sWARNglobal_costmap.global_costmapSensor origin at (-32.67, 17.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.559ms + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 10.51sWARNstate_estimatorOptimization exceeded the configured duration by 14137235ns + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202570 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202570 ms (missed cycles : 2).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 11.01sWARNglobal_costmap.global_costmapSensor origin at (-32.86, 18.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.01sWARNglobal_costmap.global_costmapSensor origin at (-33.20, 18.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 11.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 11.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606325 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606325 ms (missed cycles : 4).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 12.01sWARNglobal_costmap.global_costmapSensor origin at (-33.40, 18.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.01sWARNglobal_costmap.global_costmapSensor origin at (-33.72, 18.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648056 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648056 ms (missed cycles : 3).[0m ×2 + 13.01sWARNglobal_costmap.global_costmapSensor origin at (-33.94, 19.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.01sWARNglobal_costmap.global_costmapSensor origin at (-34.26, 18.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 13.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 14.01sWARNglobal_costmap.global_costmapSensor origin at (-34.47, 19.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.01sWARNglobal_costmap.global_costmapSensor origin at (-34.80, 18.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711530 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711530 ms (missed cycles : 3).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 15.01sWARNglobal_costmap.global_costmapSensor origin at (-36.62, 35.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.01sWARNglobal_costmap.global_costmapSensor origin at (-37.24, 35.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960980 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960980 ms (missed cycles : 2).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 15.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.775ms + 16.01sWARNglobal_costmap.global_costmapSensor origin at (-37.05, 36.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.01sWARNglobal_costmap.global_costmapSensor origin at (-37.67, 35.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598869 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598869 ms (missed cycles : 3).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.977ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 17.01sWARNglobal_costmap.global_costmapSensor origin at (-37.48, 36.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.01sWARNglobal_costmap.global_costmapSensor origin at (-38.10, 35.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957244 ms (missed cycles : 4). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957244 ms (missed cycles : 4).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 17.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 18.01sWARNglobal_costmap.global_costmapSensor origin at (-37.23, 41.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.01sWARNglobal_costmap.global_costmapSensor origin at (-37.92, 40.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.467ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348939 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348939 ms (missed cycles : 2).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.329ms + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.980ms + 19.01sWARNglobal_costmap.global_costmapSensor origin at (-37.63, 41.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.01sWARNglobal_costmap.global_costmapSensor origin at (-38.31, 41.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231477 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231477 ms (missed cycles : 3).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.178ms ×2 + 19.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.01sWARNglobal_costmap.global_costmapSensor origin at (-38.05, 41.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.01sWARNglobal_costmap.global_costmapSensor origin at (-38.73, 41.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.821ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032335 ms (missed cycles : 4). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032335 ms (missed cycles : 4).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.281ms + 20.70sWARNstate_estimatorOptimization exceeded the configured duration by 701042ns + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 21.01sWARNglobal_costmap.global_costmapSensor origin at (-38.48, 42.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.01sWARNglobal_costmap.global_costmapSensor origin at (-39.17, 41.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743757 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743757 ms (missed cycles : 3).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.965ms + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 22.01sWARNglobal_costmap.global_costmapSensor origin at (-38.84, 42.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.01sWARNglobal_costmap.global_costmapSensor origin at (-39.53, 42.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639767 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639767 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 23.01sWARNglobal_costmap.global_costmapSensor origin at (-39.32, 43.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.01sWARNglobal_costmap.global_costmapSensor origin at (-40.02, 42.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.914ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668754 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668754 ms (missed cycles : 3).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 24.01sWARNglobal_costmap.global_costmapSensor origin at (-39.74, 43.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.01sWARNglobal_costmap.global_costmapSensor origin at (-40.44, 42.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197800 ms (missed cycles : 4). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197800 ms (missed cycles : 4).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.978ms + 25.01sWARNglobal_costmap.global_costmapSensor origin at (-40.14, 43.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.01sWARNglobal_costmap.global_costmapSensor origin at (-40.85, 43.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms ×2 + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.344ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.672ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822419 ms (missed cycles : 5). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822419 ms (missed cycles : 5).[0m ×2 + 26.01sWARNglobal_costmap.global_costmapSensor origin at (-40.56, 44.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.01sWARNglobal_costmap.global_costmapSensor origin at (-41.27, 43.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.731ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.003ms + 26.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 26.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435632 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435632 ms (missed cycles : 3).[0m ×2 + 27.01sWARNglobal_costmap.global_costmapSensor origin at (-41.00, 44.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.01sWARNglobal_costmap.global_costmapSensor origin at (-41.70, 43.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.292ms + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.940ms + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.887ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151043 ms (missed cycles : 3). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151043 ms (missed cycles : 3).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 28.01sWARNglobal_costmap.global_costmapSensor origin at (-41.41, 44.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.01sWARNglobal_costmap.global_costmapSensor origin at (-42.11, 44.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 28.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.795ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755307 ms (missed cycles : 4). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755307 ms (missed cycles : 4).[0m ×2 + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.096ms + 29.01sWARNglobal_costmap.global_costmapSensor origin at (-41.83, 45.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.01sWARNglobal_costmap.global_costmapSensor origin at (-42.53, 44.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 29.84sINFOros2_control_nodeMuJoCo sim: 6.96% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954877 ms (missed cycles : 3). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954877 ms (missed cycles : 3).[0m ×2 + 30.01sWARNglobal_costmap.global_costmapSensor origin at (-42.27, 45.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.01sWARNglobal_costmap.global_costmapSensor origin at (-42.95, 45.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 30.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.812ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms ×2 + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345788 ms (missed cycles : 2). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345788 ms (missed cycles : 2).[0m ×2 + 31.01sWARNglobal_costmap.global_costmapSensor origin at (-42.65, 45.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.01sWARNglobal_costmap.global_costmapSensor origin at (-43.35, 45.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 31.70sWARNstate_estimatorOptimization exceeded the configured duration by 6477383ns + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.833ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270986 ms (missed cycles : 4). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270986 ms (missed cycles : 4).[0m ×2 + 32.01sWARNglobal_costmap.global_costmapSensor origin at (-43.11, 46.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.01sWARNglobal_costmap.global_costmapSensor origin at (-43.81, 45.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 32.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.408ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856834 ms (missed cycles : 5). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856834 ms (missed cycles : 5).[0m ×2 + 33.01sWARNglobal_costmap.global_costmapSensor origin at (-43.52, 46.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.01sWARNglobal_costmap.global_costmapSensor origin at (-44.20, 46.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 33.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.752ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075252 ms (missed cycles : 3). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075252 ms (missed cycles : 3).[0m ×2 + 34.01sWARNglobal_costmap.global_costmapSensor origin at (-43.90, 47.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.01sWARNglobal_costmap.global_costmapSensor origin at (-44.60, 46.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 34.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 34.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.2 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.2 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 35.01sWARNglobal_costmap.global_costmapSensor origin at (-44.11, 47.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.01sWARNglobal_costmap.global_costmapSensor origin at (-44.82, 46.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093136 ms (missed cycles : 4). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093136 ms (missed cycles : 4).[0m ×2 + 35.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.287ms + 36.01sWARNglobal_costmap.global_costmapSensor origin at (-44.17, 47.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.01sWARNglobal_costmap.global_costmapSensor origin at (-44.90, 46.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088241 ms (missed cycles : 3). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088241 ms (missed cycles : 3).[0m ×2 + 36.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 36.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.4 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.4 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.89sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 36.89sINFOros2_control_nodeGoal reached, success![0m ×8 + 37.01sWARNglobal_costmap.global_costmapSensor origin at (-44.24, 47.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 37.01sWARNglobal_costmap.global_costmapSensor origin at (-44.97, 46.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.11sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149394 ms (missed cycles : 4). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149394 ms (missed cycles : 4).[0m ×2 + 37.92sINFOobjective_server_nodePlanning for 33 path waypoints. ×6 + 38.01sWARNglobal_costmap.global_costmapSensor origin at (-44.98, 46.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305980 ms (missed cycles : 3). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305980 ms (missed cycles : 3).[0m ×2 + 38.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.01sWARNglobal_costmap.global_costmapSensor origin at (-44.98, 46.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255185 ms (missed cycles : 4). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255185 ms (missed cycles : 4).[0m ×2 + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.892ms + 40.01sWARNglobal_costmap.global_costmapSensor origin at (-44.05, 47.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.01sWARNglobal_costmap.global_costmapSensor origin at (-44.84, 46.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057409 ms (missed cycles : 3). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057409 ms (missed cycles : 3).[0m ×2 + 40.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.662ms + 40.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 40.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.01sWARNglobal_costmap.global_costmapSensor origin at (-43.57, 47.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.01sWARNglobal_costmap.global_costmapSensor origin at (-44.41, 46.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 41.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746481 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746481 ms (missed cycles : 3).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.081ms + 41.71sWARNstate_estimatorOptimization exceeded the configured duration by 11382845ns + 41.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 42.01sWARNglobal_costmap.global_costmapSensor origin at (-42.94, 46.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.01sWARNglobal_costmap.global_costmapSensor origin at (-43.81, 46.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 42.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.086ms + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642768 ms (missed cycles : 3). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642768 ms (missed cycles : 3).[0m ×2 + 42.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 42.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.259ms + 42.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 42.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.01sWARNglobal_costmap.global_costmapSensor origin at (-42.35, 46.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.01sWARNglobal_costmap.global_costmapSensor origin at (-43.24, 46.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.900ms + 43.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.296ms + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697253 ms (missed cycles : 4). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697253 ms (missed cycles : 4).[0m ×2 + 43.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 44.01sWARNglobal_costmap.global_costmapSensor origin at (-42.05, 46.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.01sWARNglobal_costmap.global_costmapSensor origin at (-42.94, 46.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.884ms + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077055 ms (missed cycles : 3). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077055 ms (missed cycles : 3).[0m ×2 + 44.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 44.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.01sWARNglobal_costmap.global_costmapSensor origin at (-42.00, 46.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.01sWARNglobal_costmap.global_costmapSensor origin at (-42.89, 46.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.468ms + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939869 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939869 ms (missed cycles : 2).[0m ×2 + 46.01sWARNglobal_costmap.global_costmapSensor origin at (-42.11, 46.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.01sWARNglobal_costmap.global_costmapSensor origin at (-42.96, 46.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 46.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156366 ms (missed cycles : 3). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156366 ms (missed cycles : 3).[0m ×2 + 47.01sWARNglobal_costmap.global_costmapSensor origin at (-42.27, 47.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.01sWARNglobal_costmap.global_costmapSensor origin at (-43.08, 46.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 47.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013186 ms (missed cycles : 4). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013186 ms (missed cycles : 4).[0m ×2 + 47.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 48.01sWARNglobal_costmap.global_costmapSensor origin at (-42.45, 47.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.01sWARNglobal_costmap.global_costmapSensor origin at (-43.23, 46.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.542ms + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893298 ms (missed cycles : 4). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893298 ms (missed cycles : 4).[0m ×2 + 49.01sWARNglobal_costmap.global_costmapSensor origin at (-42.63, 47.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.01sWARNglobal_costmap.global_costmapSensor origin at (-43.35, 47.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.165ms + 49.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.000ms + 49.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms ×2 + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085048 ms (missed cycles : 3). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085048 ms (missed cycles : 3).[0m ×2 + 50.01sWARNglobal_costmap.global_costmapSensor origin at (-42.77, 47.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.01sWARNglobal_costmap.global_costmapSensor origin at (-43.46, 47.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.533ms + 50.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515521 ms (missed cycles : 3). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515521 ms (missed cycles : 3).[0m ×2 + 51.01sWARNglobal_costmap.global_costmapSensor origin at (-42.92, 48.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.01sWARNglobal_costmap.global_costmapSensor origin at (-43.55, 47.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 51.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 51.90sWARNstate_estimatorOptimization exceeded the configured duration by 4319085ns + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303956 ms (missed cycles : 3). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303956 ms (missed cycles : 3).[0m ×2 + 52.01sWARNglobal_costmap.global_costmapSensor origin at (-43.07, 48.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.01sWARNglobal_costmap.global_costmapSensor origin at (-43.65, 47.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 52.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 52.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076270 ms (missed cycles : 5). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076270 ms (missed cycles : 5).[0m ×2 + 53.01sWARNglobal_costmap.global_costmapSensor origin at (-43.23, 48.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.01sWARNglobal_costmap.global_costmapSensor origin at (-43.76, 47.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 53.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.995ms + 54.01sWARNglobal_costmap.global_costmapSensor origin at (-43.34, 48.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.01sWARNglobal_costmap.global_costmapSensor origin at (-43.83, 48.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218214 ms (missed cycles : 4). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218214 ms (missed cycles : 4).[0m ×2 + 55.01sWARNglobal_costmap.global_costmapSensor origin at (-43.35, 48.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.01sWARNglobal_costmap.global_costmapSensor origin at (-43.85, 48.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.06sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059788 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059788 ms (missed cycles : 2).[0m ×2 + 55.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.01sWARNglobal_costmap.global_costmapSensor origin at (-43.36, 48.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.01sWARNglobal_costmap.global_costmapSensor origin at (-43.85, 48.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822222 ms (missed cycles : 5). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822222 ms (missed cycles : 5).[0m ×2 + 56.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.404ms + 57.01sWARNglobal_costmap.global_costmapSensor origin at (-43.47, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.01sWARNglobal_costmap.global_costmapSensor origin at (-43.88, 48.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232043 ms (missed cycles : 2). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232043 ms (missed cycles : 2).[0m ×2 + 57.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.01sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.01sWARNglobal_costmap.global_costmapSensor origin at (-43.91, 48.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536919 ms (missed cycles : 4). + 58.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536919 ms (missed cycles : 4).[0m ×2 + 58.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 59.01sWARNglobal_costmap.global_costmapSensor origin at (-43.44, 48.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.01sWARNglobal_costmap.global_costmapSensor origin at (-43.97, 48.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.350ms + 59.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627817 ms (missed cycles : 2). + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627817 ms (missed cycles : 2).[0m ×2 + 59.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 60.01sWARNglobal_costmap.global_costmapSensor origin at (-43.31, 48.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.01sWARNglobal_costmap.global_costmapSensor origin at (-43.94, 47.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.355ms + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384400 ms (missed cycles : 4). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384400 ms (missed cycles : 4).[0m ×2 + 60.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 61.01sWARNglobal_costmap.global_costmapSensor origin at (-43.19, 48.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.01sWARNglobal_costmap.global_costmapSensor origin at (-43.88, 47.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 61.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.501ms + 61.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785691 ms (missed cycles : 2). + 61.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785691 ms (missed cycles : 2).[0m ×2 + 61.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 62.01sWARNglobal_costmap.global_costmapSensor origin at (-43.02, 48.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.01sWARNglobal_costmap.global_costmapSensor origin at (-43.77, 47.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 62.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 62.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480499 ms (missed cycles : 4). + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480499 ms (missed cycles : 4).[0m ×2 + 63.01sWARNglobal_costmap.global_costmapSensor origin at (-42.87, 47.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.01sWARNglobal_costmap.global_costmapSensor origin at (-43.66, 47.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.02sWARNstate_estimatorOptimization exceeded the configured duration by 18598695ns + 63.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 63.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.793ms + 63.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492639 ms (missed cycles : 3). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492639 ms (missed cycles : 3).[0m ×2 + 64.01sWARNglobal_costmap.global_costmapSensor origin at (-42.70, 47.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 64.01sWARNglobal_costmap.global_costmapSensor origin at (-43.53, 47.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 64.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.849ms + 64.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720576 ms (missed cycles : 2). + 64.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720576 ms (missed cycles : 2).[0m ×2 + 64.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.424ms ×2 + 65.01sWARNglobal_costmap.global_costmapSensor origin at (-42.50, 47.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 65.01sWARNglobal_costmap.global_costmapSensor origin at (-43.36, 46.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 65.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.399ms + 65.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 65.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 65.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886566 ms (missed cycles : 4). + 65.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886566 ms (missed cycles : 4).[0m ×2 + 66.01sWARNglobal_costmap.global_costmapSensor origin at (-42.36, 47.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 66.01sWARNglobal_costmap.global_costmapSensor origin at (-43.24, 46.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 67.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312629 ms (missed cycles : 3). + 67.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312629 ms (missed cycles : 3).[0m ×2 + 67.01sWARNglobal_costmap.global_costmapSensor origin at (-42.21, 46.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 67.01sWARNglobal_costmap.global_costmapSensor origin at (-43.10, 46.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 67.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.664ms + 67.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.453ms + 67.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.6 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 67.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.6 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 68.01sWARNglobal_costmap.global_costmapSensor origin at (-42.02, 46.67) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 68.01sWARNglobal_costmap.global_costmapSensor origin at (-42.92, 46.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 68.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.865ms + 68.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358152 ms (missed cycles : 2). + 68.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358152 ms (missed cycles : 2).[0m ×2 + 68.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.335ms + 69.01sWARNglobal_costmap.global_costmapSensor origin at (-41.90, 46.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 69.01sWARNglobal_costmap.global_costmapSensor origin at (-42.80, 46.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 69.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020335 ms (missed cycles : 3). + 69.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020335 ms (missed cycles : 3).[0m ×2 + 70.01sWARNglobal_costmap.global_costmapSensor origin at (-41.88, 46.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 70.01sWARNglobal_costmap.global_costmapSensor origin at (-42.78, 46.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 70.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.8 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 70.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.8 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 70.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191513 ms (missed cycles : 3). + 70.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191513 ms (missed cycles : 3).[0m ×2 + 71.01sWARNglobal_costmap.global_costmapSensor origin at (-41.89, 46.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 71.01sWARNglobal_costmap.global_costmapSensor origin at (-42.78, 46.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 71.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880703 ms (missed cycles : 4). + 71.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880703 ms (missed cycles : 4).[0m ×2 + 72.01sWARNglobal_costmap.global_costmapSensor origin at (-41.92, 46.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 72.01sWARNglobal_costmap.global_costmapSensor origin at (-42.82, 46.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 72.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.117ms + 72.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.0 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 72.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 121.0 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 72.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589564 ms (missed cycles : 2). + 72.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589564 ms (missed cycles : 2).[0m ×2 + 73.01sWARNglobal_costmap.global_costmapSensor origin at (-41.97, 46.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 73.01sWARNglobal_costmap.global_costmapSensor origin at (-42.87, 46.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 73.31sWARNstate_estimatorOptimization exceeded the configured duration by 16353874ns + 73.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 73.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660681 ms (missed cycles : 4). + 73.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660681 ms (missed cycles : 4).[0m ×2 + 73.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.913ms + 74.01sWARNglobal_costmap.global_costmapSensor origin at (-42.18, 46.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 74.01sWARNglobal_costmap.global_costmapSensor origin at (-43.06, 46.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 74.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 74.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 74.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 123.0 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 74.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771840 ms (missed cycles : 3). + 74.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771840 ms (missed cycles : 3).[0m ×2 + 74.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.930ms + 75.01sWARNglobal_costmap.global_costmapSensor origin at (-42.34, 46.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 75.01sWARNglobal_costmap.global_costmapSensor origin at (-43.20, 46.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 75.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 75.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190598 ms (missed cycles : 3). + 75.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190598 ms (missed cycles : 3).[0m ×2 + 76.01sWARNglobal_costmap.global_costmapSensor origin at (-42.50, 46.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 76.01sWARNglobal_costmap.global_costmapSensor origin at (-43.32, 46.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 76.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 76.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 125.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 76.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 76.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193367 ms (missed cycles : 3). + 76.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193367 ms (missed cycles : 3).[0m ×2 + 76.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 77.01sWARNglobal_costmap.global_costmapSensor origin at (-42.71, 47.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 77.01sWARNglobal_costmap.global_costmapSensor origin at (-43.49, 46.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 77.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 77.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 77.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997736 ms (missed cycles : 2). + 77.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997736 ms (missed cycles : 2).[0m ×2 + 78.01sWARNglobal_costmap.global_costmapSensor origin at (-42.90, 47.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 78.01sWARNglobal_costmap.global_costmapSensor origin at (-43.62, 47.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 78.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.518ms + 78.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 78.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 127.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 78.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.601ms + 79.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584001 ms (missed cycles : 3). + 79.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584001 ms (missed cycles : 3).[0m ×2 + 79.01sWARNglobal_costmap.global_costmapSensor origin at (-43.06, 47.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 79.01sWARNglobal_costmap.global_costmapSensor origin at (-43.72, 47.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 79.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 79.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 79.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 80.01sWARNglobal_costmap.global_costmapSensor origin at (-43.29, 48.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 80.01sWARNglobal_costmap.global_costmapSensor origin at (-43.85, 47.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 80.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771306 ms (missed cycles : 5). + 80.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771306 ms (missed cycles : 5).[0m ×2 + 80.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.098ms + 80.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 80.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 80.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 80.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 81.01sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 81.01sWARNglobal_costmap.global_costmapSensor origin at (-43.94, 47.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 81.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 81.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846755 ms (missed cycles : 3). + 81.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846755 ms (missed cycles : 3).[0m ×2 + 81.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 82.01sWARNglobal_costmap.global_costmapSensor origin at (-43.60, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 82.01sWARNglobal_costmap.global_costmapSensor origin at (-44.02, 48.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 82.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.383ms + 82.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847929 ms (missed cycles : 5). + 82.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847929 ms (missed cycles : 5).[0m ×2 + 82.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 82.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 83.01sWARNglobal_costmap.global_costmapSensor origin at (-43.66, 49.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 83.01sWARNglobal_costmap.global_costmapSensor origin at (-44.07, 48.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 83.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690440 ms (missed cycles : 2). + 83.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690440 ms (missed cycles : 2).[0m ×2 + 83.60sWARNstate_estimatorOptimization exceeded the configured duration by 4862121ns + 83.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705601.32839489 seconds ×3 + 84.01sWARNglobal_costmap.global_costmapSensor origin at (-43.67, 49.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 84.01sWARNglobal_costmap.global_costmapSensor origin at (-44.08, 48.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 84.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 84.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 84.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705601.92417669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 84.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925220 ms (missed cycles : 2). + 84.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925220 ms (missed cycles : 2).[0m ×2 + 84.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 84.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 84.95sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 85.01sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 85.01sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 85.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955357 ms (missed cycles : 2). + 85.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955357 ms (missed cycles : 2).[0m ×2 + 86.01sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 86.01sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	412 warnings · 246 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160413 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160413 ms (missed cycles : 2).[0m ×2 + 6.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.0 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 142.0 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.90sWARNstate_estimatorOptimization exceeded the configured duration by 23576441ns + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526047 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526047 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 8.29sWARNglobal_costmap.global_costmapSensor origin at (-43.62, 49.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.29sWARNglobal_costmap.global_costmapSensor origin at (-44.35, 48.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072291 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072291 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 8.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 144.2 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms ×2 + 9.29sWARNglobal_costmap.global_costmapSensor origin at (-43.91, 49.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.29sWARNglobal_costmap.global_costmapSensor origin at (-44.61, 48.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 9.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436805 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436805 ms (missed cycles : 3).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.086ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 10.29sWARNglobal_costmap.global_costmapSensor origin at (-44.29, 49.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.29sWARNglobal_costmap.global_costmapSensor origin at (-44.99, 49.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.281ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478097 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478097 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 11.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.4 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 146.4 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.29sWARNglobal_costmap.global_costmapSensor origin at (-44.74, 50.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.29sWARNglobal_costmap.global_costmapSensor origin at (-45.42, 49.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608601 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608601 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 12.29sWARNglobal_costmap.global_costmapSensor origin at (-45.11, 50.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.29sWARNglobal_costmap.global_costmapSensor origin at (-45.79, 49.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.241ms + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.424ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937148 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937148 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.398ms + 13.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.4 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 148.4 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.29sWARNglobal_costmap.global_costmapSensor origin at (-45.58, 50.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.29sWARNglobal_costmap.global_costmapSensor origin at (-46.27, 50.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622786 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622786 ms (missed cycles : 4).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 14.29sWARNglobal_costmap.global_costmapSensor origin at (-45.99, 51.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.29sWARNglobal_costmap.global_costmapSensor origin at (-46.68, 50.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.787ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.120ms + 15.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 150.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 150.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038882 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038882 ms (missed cycles : 3).[0m ×2 + 15.29sWARNglobal_costmap.global_costmapSensor origin at (-46.40, 51.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.29sWARNglobal_costmap.global_costmapSensor origin at (-47.09, 50.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.748ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979760 ms (missed cycles : 6). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979760 ms (missed cycles : 6).[0m ×2 + 16.29sWARNglobal_costmap.global_costmapSensor origin at (-46.83, 51.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.29sWARNglobal_costmap.global_costmapSensor origin at (-47.52, 51.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.321ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.966ms + 17.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 152.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655237 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655237 ms (missed cycles : 2).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 17.29sWARNglobal_costmap.global_costmapSensor origin at (-47.20, 52.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.29sWARNglobal_costmap.global_costmapSensor origin at (-47.89, 51.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.48sWARNstate_estimatorOptimization exceeded the configured duration by 6278378ns + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.223ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.107ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634460 ms (missed cycles : 4). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634460 ms (missed cycles : 4).[0m ×2 + 18.29sWARNglobal_costmap.global_costmapSensor origin at (-47.65, 52.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.29sWARNglobal_costmap.global_costmapSensor origin at (-48.34, 52.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.139ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.326ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430694 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430694 ms (missed cycles : 2).[0m ×2 + 19.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.6 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.6 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.29sWARNglobal_costmap.global_costmapSensor origin at (-48.09, 52.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.29sWARNglobal_costmap.global_costmapSensor origin at (-48.77, 52.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037197 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037197 ms (missed cycles : 3).[0m ×2 + 20.29sWARNglobal_costmap.global_costmapSensor origin at (-48.47, 53.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.29sWARNglobal_costmap.global_costmapSensor origin at (-49.17, 52.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.190ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.369ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.795ms + 21.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.29sWARNglobal_costmap.global_costmapSensor origin at (-48.89, 53.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.29sWARNglobal_costmap.global_costmapSensor origin at (-49.58, 53.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661841 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661841 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.739ms + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.704ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 22.29sWARNglobal_costmap.global_costmapSensor origin at (-49.34, 54.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.29sWARNglobal_costmap.global_costmapSensor origin at (-50.03, 53.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.908ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103259 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103259 ms (missed cycles : 2).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.887ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 23.29sWARNglobal_costmap.global_costmapSensor origin at (-49.74, 54.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.29sWARNglobal_costmap.global_costmapSensor origin at (-50.43, 53.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.215ms + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936486 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936486 ms (missed cycles : 3).[0m ×2 + 23.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.319ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.399ms + 24.29sWARNglobal_costmap.global_costmapSensor origin at (-50.15, 54.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.29sWARNglobal_costmap.global_costmapSensor origin at (-50.84, 54.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464464 ms (missed cycles : 5). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464464 ms (missed cycles : 5).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.939ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.045ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 25.29sWARNglobal_costmap.global_costmapSensor origin at (-50.59, 55.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.29sWARNglobal_costmap.global_costmapSensor origin at (-51.28, 54.55) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.868ms + 25.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259963 ms (missed cycles : 4). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259963 ms (missed cycles : 4).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.586ms + 26.29sWARNglobal_costmap.global_costmapSensor origin at (-51.02, 55.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.29sWARNglobal_costmap.global_costmapSensor origin at (-51.71, 54.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.736ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.777ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495037 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495037 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.772ms + 27.29sWARNglobal_costmap.global_costmapSensor origin at (-51.41, 55.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.29sWARNglobal_costmap.global_costmapSensor origin at (-52.10, 55.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.750ms + 27.59sWARNstate_estimatorOptimization exceeded the configured duration by 10008536ns + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 27.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 163.0 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 163.0 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339556 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339556 ms (missed cycles : 2).[0m ×2 + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.676ms + 28.29sWARNglobal_costmap.global_costmapSensor origin at (-51.81, 56.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.29sWARNglobal_costmap.global_costmapSensor origin at (-52.51, 55.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481002 ms (missed cycles : 4). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481002 ms (missed cycles : 4).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 29.29sWARNglobal_costmap.global_costmapSensor origin at (-52.25, 56.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.29sWARNglobal_costmap.global_costmapSensor origin at (-52.96, 56.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.857ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 29.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 165.2 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 165.2 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749837 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749837 ms (missed cycles : 2).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 30.29sWARNglobal_costmap.global_costmapSensor origin at (-52.69, 56.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.29sWARNglobal_costmap.global_costmapSensor origin at (-53.38, 56.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317605 ms (missed cycles : 2). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317605 ms (missed cycles : 2).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.969ms + 31.29sWARNglobal_costmap.global_costmapSensor origin at (-53.10, 57.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.29sWARNglobal_costmap.global_costmapSensor origin at (-53.80, 56.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.456ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710146 ms (missed cycles : 2). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710146 ms (missed cycles : 2).[0m ×2 + 32.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 167.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 167.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 32.29sWARNglobal_costmap.global_costmapSensor origin at (-53.47, 57.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.29sWARNglobal_costmap.global_costmapSensor origin at (-54.17, 57.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.750ms + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.933ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295131 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295131 ms (missed cycles : 2).[0m ×2 + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.398ms + 33.29sWARNglobal_costmap.global_costmapSensor origin at (-53.93, 58.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.29sWARNglobal_costmap.global_costmapSensor origin at (-54.63, 57.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.606ms + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.390ms + 34.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.344ms + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482700 ms (missed cycles : 4). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482700 ms (missed cycles : 4).[0m ×2 + 34.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 169.6 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 169.6 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.29sWARNglobal_costmap.global_costmapSensor origin at (-54.19, 58.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.29sWARNglobal_costmap.global_costmapSensor origin at (-54.90, 57.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.819ms + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910328 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910328 ms (missed cycles : 3).[0m ×2 + 35.29sWARNglobal_costmap.global_costmapSensor origin at (-54.32, 58.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.29sWARNglobal_costmap.global_costmapSensor origin at (-55.05, 57.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 35.58sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788155 ms (missed cycles : 2).[0m ×2 + 36.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 171.6 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 171.6 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.29sWARNglobal_costmap.global_costmapSensor origin at (-54.33, 58.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.29sWARNglobal_costmap.global_costmapSensor origin at (-55.07, 57.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.973ms + 37.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.726ms + 37.29sWARNglobal_costmap.global_costmapSensor origin at (-54.51, 58.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.29sWARNglobal_costmap.global_costmapSensor origin at (-55.24, 57.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124032 ms (missed cycles : 4). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124032 ms (missed cycles : 4).[0m ×2 + 38.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 173.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 173.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.29sWARNglobal_costmap.global_costmapSensor origin at (-54.53, 58.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.29sWARNglobal_costmap.global_costmapSensor origin at (-55.26, 57.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605260 ms (missed cycles : 5). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605260 ms (missed cycles : 5).[0m ×2 + 39.08sWARNstate_estimatorOptimization exceeded the configured duration by 2403299ns + 39.29sWARNglobal_costmap.global_costmapSensor origin at (-21.71, 89.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.29sWARNglobal_costmap.global_costmapSensor origin at (-22.61, 89.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617318 ms (missed cycles : 3). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617318 ms (missed cycles : 3).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.194ms + 40.29sWARNglobal_costmap.global_costmapSensor origin at (-1.40, 90.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.29sWARNglobal_costmap.global_costmapSensor origin at (-2.19, 90.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 175.8 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 175.8 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637192 ms (missed cycles : 4). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637192 ms (missed cycles : 4).[0m ×2 + 41.29sWARNglobal_costmap.global_costmapSensor origin at (9.08, 86.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.29sWARNglobal_costmap.global_costmapSensor origin at (8.39, 86.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146438 ms (missed cycles : 2). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146438 ms (missed cycles : 2).[0m ×2 + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 42.29sWARNglobal_costmap.global_costmapSensor origin at (9.26, 86.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.29sWARNglobal_costmap.global_costmapSensor origin at (8.49, 86.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.819254 ms (missed cycles : 6). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.819254 ms (missed cycles : 6).[0m ×2 + 42.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 178.0 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 42.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 178.0 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 42.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.872ms + 43.29sWARNglobal_costmap.global_costmapSensor origin at (9.36, 86.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.29sWARNglobal_costmap.global_costmapSensor origin at (8.57, 86.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341500 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341500 ms (missed cycles : 2).[0m ×2 + 44.29sWARNglobal_costmap.global_costmapSensor origin at (9.39, 86.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.29sWARNglobal_costmap.global_costmapSensor origin at (8.61, 86.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396685 ms (missed cycles : 4). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396685 ms (missed cycles : 4).[0m ×2 + 44.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 180.2 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 44.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 180.2 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 45.29sWARNglobal_costmap.global_costmapSensor origin at (9.27, 86.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.29sWARNglobal_costmap.global_costmapSensor origin at (8.57, 86.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.887ms + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040155 ms (missed cycles : 2). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040155 ms (missed cycles : 2).[0m ×2 + 46.29sWARNglobal_costmap.global_costmapSensor origin at (9.14, 86.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.29sWARNglobal_costmap.global_costmapSensor origin at (8.51, 86.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761502 ms (missed cycles : 3). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761502 ms (missed cycles : 3).[0m ×2 + 47.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 182.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 182.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.29sWARNglobal_costmap.global_costmapSensor origin at (9.18, 86.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.29sWARNglobal_costmap.global_costmapSensor origin at (8.54, 86.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121663 ms (missed cycles : 4). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121663 ms (missed cycles : 4).[0m ×2 + 48.29sWARNglobal_costmap.global_costmapSensor origin at (9.26, 86.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.29sWARNglobal_costmap.global_costmapSensor origin at (8.55, 86.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127549 ms (missed cycles : 4). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127549 ms (missed cycles : 4).[0m ×2 + 49.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 184.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 184.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.472ms + 49.29sWARNglobal_costmap.global_costmapSensor origin at (9.42, 86.39) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.29sWARNglobal_costmap.global_costmapSensor origin at (8.64, 86.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.59sWARNstate_estimatorOptimization exceeded the configured duration by 11854578ns + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539544 ms (missed cycles : 5). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539544 ms (missed cycles : 5).[0m ×2 + 50.29sWARNglobal_costmap.global_costmapSensor origin at (9.48, 86.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.29sWARNglobal_costmap.global_costmapSensor origin at (8.70, 86.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms ×2 + 51.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 186.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.03sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 186.4 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809892 ms (missed cycles : 3). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809892 ms (missed cycles : 3).[0m ×2 + 51.29sWARNglobal_costmap.global_costmapSensor origin at (9.50, 86.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.29sWARNglobal_costmap.global_costmapSensor origin at (8.74, 86.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 52.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144690 ms (missed cycles : 3). + 52.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144690 ms (missed cycles : 3).[0m ×2 + 52.29sWARNglobal_costmap.global_costmapSensor origin at (9.34, 86.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.29sWARNglobal_costmap.global_costmapSensor origin at (8.69, 86.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187102 ms (missed cycles : 3). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187102 ms (missed cycles : 3).[0m ×2 + 53.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 188.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 188.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.29sWARNglobal_costmap.global_costmapSensor origin at (9.27, 86.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.29sWARNglobal_costmap.global_costmapSensor origin at (8.67, 86.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053933 ms (missed cycles : 4). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053933 ms (missed cycles : 4).[0m ×2 + 54.29sWARNglobal_costmap.global_costmapSensor origin at (9.32, 86.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.29sWARNglobal_costmap.global_costmapSensor origin at (8.69, 86.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359978 ms (missed cycles : 2). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359978 ms (missed cycles : 2).[0m ×2 + 55.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 190.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 190.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.29sWARNglobal_costmap.global_costmapSensor origin at (9.39, 86.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.29sWARNglobal_costmap.global_costmapSensor origin at (8.71, 86.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 55.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916498 ms (missed cycles : 4). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916498 ms (missed cycles : 4).[0m ×2 + 56.29sWARNglobal_costmap.global_costmapSensor origin at (9.56, 86.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.29sWARNglobal_costmap.global_costmapSensor origin at (8.79, 86.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.664ms + 57.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.23sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.29sWARNglobal_costmap.global_costmapSensor origin at (9.64, 86.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.29sWARNglobal_costmap.global_costmapSensor origin at (8.86, 86.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390212 ms (missed cycles : 3). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390212 ms (missed cycles : 3).[0m ×2 + 58.29sWARNglobal_costmap.global_costmapSensor origin at (9.75, 86.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.29sWARNglobal_costmap.global_costmapSensor origin at (8.98, 86.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000431 ms (missed cycles : 3). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000431 ms (missed cycles : 3).[0m ×2 + 59.29sWARNglobal_costmap.global_costmapSensor origin at (9.73, 86.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.29sWARNglobal_costmap.global_costmapSensor origin at (8.99, 86.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.8 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.8 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.393ms + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847846 ms (missed cycles : 3). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847846 ms (missed cycles : 3).[0m ×2 + 59.78sWARNstate_estimatorOptimization exceeded the configured duration by 722684ns + 60.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.130ms + 60.29sWARNglobal_costmap.global_costmapSensor origin at (9.56, 86.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.29sWARNglobal_costmap.global_costmapSensor origin at (8.91, 86.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364206 ms (missed cycles : 4). + 60.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364206 ms (missed cycles : 4).[0m ×2 + 60.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 61.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705665.37968087 seconds ×3 + 61.26sWARNlocal_costmap.local_costmapSensor origin at (-16.55, 70.85) is out of map bounds (-18.40, 64.00) to (-13.43, 68.97). The costmap cannot raytrace for it. + 61.26sWARNlocal_costmap.local_costmapSensor origin at (-17.45, 70.88) is out of map bounds (-18.40, 64.00) to (-13.43, 68.97). The costmap cannot raytrace for it. + 61.29sWARNglobal_costmap.global_costmapSensor origin at (5.68, 79.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.29sWARNglobal_costmap.global_costmapSensor origin at (5.06, 80.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.816ms + 61.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.399ms + 61.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.8 s (AMCL untrusted, spread=8.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.8 s (AMCL untrusted, spread=8.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429969 ms (missed cycles : 3). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429969 ms (missed cycles : 3).[0m ×2 + 61.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705665.97944236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.13sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 62.29sWARNglobal_costmap.global_costmapSensor origin at (9.48, 85.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.29sWARNglobal_costmap.global_costmapSensor origin at (8.86, 86.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250946 ms (missed cycles : 3). + 62.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250946 ms (missed cycles : 3).[0m ×2 + 63.12sINFOros2_control_nodeMuJoCo sim: 11.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 63.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.0 s (AMCL untrusted, spread=8.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.0 s (AMCL untrusted, spread=8.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993154 ms (missed cycles : 3). + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993154 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	198 warnings · 300 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms ×2 + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.76sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.76sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.76sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.919ms + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705358.78373027 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705359.38001013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223001 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223001 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202484 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202484 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.610ms + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.653ms + 8.48sWARNstate_estimatorOptimization exceeded the configured duration by 10219162ns + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916645 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916645 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279510 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279510 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.907ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699922 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699922 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.564ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.925ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694153 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694153 ms (missed cycles : 5).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms ×2 + 12.00sINFOros2_control_nodeMuJoCo sim: 0.80% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541224 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541224 ms (missed cycles : 4).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587718 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587718 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.974ms + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194063 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194063 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.284ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778519 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778519 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482970 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482970 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.960ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.669ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589676 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589676 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 18.87sWARNstate_estimatorOptimization exceeded the configured duration by 208923ns + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473872 ms (missed cycles : 6). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473872 ms (missed cycles : 6).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506930 ms (missed cycles : 4). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506930 ms (missed cycles : 4).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902999 ms (missed cycles : 6). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902999 ms (missed cycles : 6).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.042ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468706 ms (missed cycles : 3). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468706 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.928ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.442ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.879ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901548 ms (missed cycles : 3). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901548 ms (missed cycles : 3).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999169 ms (missed cycles : 4). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999169 ms (missed cycles : 4).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.911ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.479ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738072 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738072 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012729 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012729 ms (missed cycles : 3).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.959ms ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029739 ms (missed cycles : 5). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029739 ms (missed cycles : 5).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.114ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.791ms + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811998 ms (missed cycles : 3). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811998 ms (missed cycles : 3).[0m ×2 + 28.87sWARNstate_estimatorOptimization exceeded the configured duration by 3082087ns + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.800ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.513ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028890 ms (missed cycles : 4). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028890 ms (missed cycles : 4).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.305ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.020ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.756ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208568 ms (missed cycles : 4). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208568 ms (missed cycles : 4).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.714ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690424 ms (missed cycles : 3). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690424 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.713ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605928 ms (missed cycles : 4). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605928 ms (missed cycles : 4).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.515ms + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.021ms + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904632 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904632 ms (missed cycles : 3).[0m ×2 + 35.09sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.086ms ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075760 ms (missed cycles : 3). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075760 ms (missed cycles : 3).[0m ×2 + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451715 ms (missed cycles : 3). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451715 ms (missed cycles : 3).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.539ms + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534206 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534206 ms (missed cycles : 2).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870623 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870623 ms (missed cycles : 3).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.495ms + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 39.47sWARNstate_estimatorOptimization exceeded the configured duration by 2557789ns + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732889 ms (missed cycles : 4). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732889 ms (missed cycles : 4).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702950 ms (missed cycles : 4). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702950 ms (missed cycles : 4).[0m ×2 + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586391 ms (missed cycles : 3). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586391 ms (missed cycles : 3).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143380 ms (missed cycles : 4). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143380 ms (missed cycles : 4).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622356 ms (missed cycles : 3). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622356 ms (missed cycles : 3).[0m ×2 + 44.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202170 ms (missed cycles : 3). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202170 ms (missed cycles : 3).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366941 ms (missed cycles : 4). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366941 ms (missed cycles : 4).[0m ×2 + 46.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 46.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094498 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094498 ms (missed cycles : 3).[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539049 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539049 ms (missed cycles : 3).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 48.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715327 ms (missed cycles : 5). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715327 ms (missed cycles : 5).[0m ×2 + 49.60sWARNstate_estimatorOptimization exceeded the configured duration by 29109552ns + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914893 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914893 ms (missed cycles : 3).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666071 ms (missed cycles : 3). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666071 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.803ms + 52.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.529ms + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422589 ms (missed cycles : 4). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422589 ms (missed cycles : 4).[0m ×2 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147697 ms (missed cycles : 3). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147697 ms (missed cycles : 3).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.300ms + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905988 ms (missed cycles : 5). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905988 ms (missed cycles : 5).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243769 ms (missed cycles : 2). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243769 ms (missed cycles : 2).[0m ×2 + 55.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.527ms + 56.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 58.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 59.68sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 60.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 60.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 61.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 61.70sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 61.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 62.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.8s	346 warnings · 292 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.503ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.262ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.182ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.03sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705455.19364548 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705455.78105354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sWARNstate_estimatorOptimization exceeded the configured duration by 21937685ns + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870710 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870710 ms (missed cycles : 2).[0m ×2 + 7.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400792 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400792 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115576 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115576 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 9.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306576 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306576 ms (missed cycles : 3).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465295 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465295 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 11.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463135 ms (missed cycles : 4). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463135 ms (missed cycles : 4).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472199 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472199 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms ×2 + 13.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121766 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121766 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 14.88sWARNstate_estimatorOptimization exceeded the configured duration by 6944592ns + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.070ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145323 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145323 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 15.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.686ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056074 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056074 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432896 ms (missed cycles : 3). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432896 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586474 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586474 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.567ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540893 ms (missed cycles : 4). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540893 ms (missed cycles : 4).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227267 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227267 ms (missed cycles : 2).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817236 ms (missed cycles : 3). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817236 ms (missed cycles : 3).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.811ms + 22.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618737 ms (missed cycles : 3). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618737 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402218 ms (missed cycles : 4). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402218 ms (missed cycles : 4).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 24.38sWARNglobal_costmap.global_costmapSensor origin at (-25.19, 15.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.38sWARNglobal_costmap.global_costmapSensor origin at (-25.49, 14.95) 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 - 1.755ms ×2 + 24.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724608 ms (missed cycles : 4). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724608 ms (missed cycles : 4).[0m ×2 + 24.98sWARNstate_estimatorOptimization exceeded the configured duration by 10559343ns + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms ×2 + 25.38sWARNglobal_costmap.global_costmapSensor origin at (-25.71, 15.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.38sWARNglobal_costmap.global_costmapSensor origin at (-26.02, 15.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653073 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653073 ms (missed cycles : 3).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 26.38sWARNglobal_costmap.global_costmapSensor origin at (-26.28, 15.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.38sWARNglobal_costmap.global_costmapSensor origin at (-26.59, 15.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 26.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931754 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931754 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 27.38sWARNglobal_costmap.global_costmapSensor origin at (-26.80, 16.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.38sWARNglobal_costmap.global_costmapSensor origin at (-27.10, 15.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.972ms ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936248 ms (missed cycles : 4). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936248 ms (missed cycles : 4).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 28.38sWARNglobal_costmap.global_costmapSensor origin at (-27.35, 16.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.38sWARNglobal_costmap.global_costmapSensor origin at (-27.65, 15.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 28.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936986 ms (missed cycles : 4). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936986 ms (missed cycles : 4).[0m ×2 + 29.38sWARNglobal_costmap.global_costmapSensor origin at (-27.90, 16.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.38sWARNglobal_costmap.global_costmapSensor origin at (-28.21, 15.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886629 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886629 ms (missed cycles : 3).[0m ×2 + 30.38sWARNglobal_costmap.global_costmapSensor origin at (-28.41, 16.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.38sWARNglobal_costmap.global_costmapSensor origin at (-28.71, 15.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 30.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 31.38sWARNglobal_costmap.global_costmapSensor origin at (-29.00, 16.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.38sWARNglobal_costmap.global_costmapSensor origin at (-29.31, 15.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080106 ms (missed cycles : 5). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080106 ms (missed cycles : 5).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms ×3 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.093ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms ×2 + 32.38sWARNglobal_costmap.global_costmapSensor origin at (-29.57, 16.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.38sWARNglobal_costmap.global_costmapSensor origin at (-29.90, 15.73) 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 - 1.651ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836944 ms (missed cycles : 2). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836944 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.231ms + 33.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 33.38sWARNglobal_costmap.global_costmapSensor origin at (-30.11, 16.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.38sWARNglobal_costmap.global_costmapSensor origin at (-30.41, 15.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440098 ms (missed cycles : 4). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440098 ms (missed cycles : 4).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms ×2 + 34.38sWARNglobal_costmap.global_costmapSensor origin at (-30.47, 16.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.38sWARNglobal_costmap.global_costmapSensor origin at (-30.80, 15.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804823 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804823 ms (missed cycles : 2).[0m ×2 + 35.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms ×2 + 35.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.38sWARNglobal_costmap.global_costmapSensor origin at (-30.65, 16.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.38sWARNglobal_costmap.global_costmapSensor origin at (-31.00, 15.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104261 ms (missed cycles : 2). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104261 ms (missed cycles : 2).[0m ×2 + 35.98sWARNstate_estimatorOptimization exceeded the configured duration by 5690933ns + 36.21sINFOros2_control_nodeMuJoCo sim: 6.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.38sWARNglobal_costmap.global_costmapSensor origin at (-30.67, 16.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.38sWARNglobal_costmap.global_costmapSensor origin at (-31.02, 15.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380104 ms (missed cycles : 4). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380104 ms (missed cycles : 4).[0m ×2 + 37.38sWARNglobal_costmap.global_costmapSensor origin at (-30.76, 16.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.38sWARNglobal_costmap.global_costmapSensor origin at (-31.13, 15.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976871 ms (missed cycles : 3). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976871 ms (missed cycles : 3).[0m ×2 + 38.16sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 38.38sWARNglobal_costmap.global_costmapSensor origin at (-30.77, 16.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.38sWARNglobal_costmap.global_costmapSensor origin at (-31.15, 15.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699068 ms (missed cycles : 3). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699068 ms (missed cycles : 3).[0m ×2 + 39.38sWARNglobal_costmap.global_costmapSensor origin at (-31.12, 17.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.38sWARNglobal_costmap.global_costmapSensor origin at (-31.49, 16.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 39.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625496 ms (missed cycles : 4). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625496 ms (missed cycles : 4).[0m ×2 + 40.38sWARNglobal_costmap.global_costmapSensor origin at (-31.27, 17.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.38sWARNglobal_costmap.global_costmapSensor origin at (-31.60, 16.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.080ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428042 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428042 ms (missed cycles : 2).[0m ×2 + 41.38sWARNglobal_costmap.global_costmapSensor origin at (-31.52, 17.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.38sWARNglobal_costmap.global_costmapSensor origin at (-31.73, 17.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 41.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 41.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 23.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.196ms + 41.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586865 ms (missed cycles : 3). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586865 ms (missed cycles : 3).[0m ×2 + 42.38sWARNglobal_costmap.global_costmapSensor origin at (-31.78, 18.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.38sWARNglobal_costmap.global_costmapSensor origin at (-31.89, 17.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.127ms + 42.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 43.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.134ms + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165232 ms (missed cycles : 4). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165232 ms (missed cycles : 4).[0m ×2 + 43.38sWARNglobal_costmap.global_costmapSensor origin at (-32.03, 19.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.38sWARNglobal_costmap.global_costmapSensor origin at (-32.05, 18.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 43.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 43.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.73sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.0 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.595ms + 44.38sWARNglobal_costmap.global_costmapSensor origin at (-32.21, 19.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.38sWARNglobal_costmap.global_costmapSensor origin at (-32.25, 18.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072532 ms (missed cycles : 3). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072532 ms (missed cycles : 3).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 45.38sWARNglobal_costmap.global_costmapSensor origin at (-32.26, 19.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.38sWARNglobal_costmap.global_costmapSensor origin at (-32.31, 18.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435511 ms (missed cycles : 2). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435511 ms (missed cycles : 2).[0m ×2 + 45.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 46.09sWARNstate_estimatorOptimization exceeded the configured duration by 21292624ns + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.394ms + 46.38sWARNglobal_costmap.global_costmapSensor origin at (-32.17, 19.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370403 ms (missed cycles : 4). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370403 ms (missed cycles : 4).[0m ×2 + 47.38sWARNglobal_costmap.global_costmapSensor origin at (-31.90, 19.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.38sWARNglobal_costmap.global_costmapSensor origin at (-32.21, 18.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613317 ms (missed cycles : 4). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613317 ms (missed cycles : 4).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 48.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 48.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 48.38sWARNglobal_costmap.global_costmapSensor origin at (-31.39, 19.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.38sWARNglobal_costmap.global_costmapSensor origin at (-31.86, 18.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.331ms + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928904 ms (missed cycles : 2). + 48.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928904 ms (missed cycles : 2).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.962ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms + 49.38sWARNglobal_costmap.global_costmapSensor origin at (-30.92, 18.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.38sWARNglobal_costmap.global_costmapSensor origin at (-31.52, 18.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785596 ms (missed cycles : 3). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785596 ms (missed cycles : 3).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.078ms + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 50.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.38sWARNglobal_costmap.global_costmapSensor origin at (-30.40, 18.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.38sWARNglobal_costmap.global_costmapSensor origin at (-31.07, 18.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.923ms + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019563 ms (missed cycles : 4). + 50.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019563 ms (missed cycles : 4).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 51.38sWARNglobal_costmap.global_costmapSensor origin at (-30.06, 18.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.38sWARNglobal_costmap.global_costmapSensor origin at (-30.80, 17.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 51.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058332 ms (missed cycles : 3). + 51.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058332 ms (missed cycles : 3).[0m ×2 + 52.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 52.38sWARNglobal_costmap.global_costmapSensor origin at (-29.75, 18.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.38sWARNglobal_costmap.global_costmapSensor origin at (-30.53, 17.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 52.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.198ms + 52.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687520 ms (missed cycles : 4). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687520 ms (missed cycles : 4).[0m ×2 + 53.38sWARNglobal_costmap.global_costmapSensor origin at (-29.47, 18.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.38sWARNglobal_costmap.global_costmapSensor origin at (-30.28, 17.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.219ms + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185335 ms (missed cycles : 4). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185335 ms (missed cycles : 4).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.692ms + 54.38sWARNglobal_costmap.global_costmapSensor origin at (-29.27, 18.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.38sWARNglobal_costmap.global_costmapSensor origin at (-30.08, 17.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 54.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.545ms + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036054 ms (missed cycles : 2). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036054 ms (missed cycles : 2).[0m ×2 + 55.38sWARNglobal_costmap.global_costmapSensor origin at (-29.04, 17.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.38sWARNglobal_costmap.global_costmapSensor origin at (-29.87, 17.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.709ms + 56.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936110 ms (missed cycles : 3). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936110 ms (missed cycles : 3).[0m ×2 + 56.17sWARNstate_estimatorOptimization exceeded the configured duration by 1911471ns + 56.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.407ms + 56.38sWARNglobal_costmap.global_costmapSensor origin at (-28.79, 17.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.38sWARNglobal_costmap.global_costmapSensor origin at (-29.63, 17.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469779 ms (missed cycles : 3). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469779 ms (missed cycles : 3).[0m ×2 + 57.38sWARNglobal_costmap.global_costmapSensor origin at (-28.61, 17.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.38sWARNglobal_costmap.global_costmapSensor origin at (-29.45, 17.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 58.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091181 ms (missed cycles : 5). + 58.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091181 ms (missed cycles : 5).[0m ×2 + 58.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.834ms + 58.38sWARNglobal_costmap.global_costmapSensor origin at (-28.47, 17.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.38sWARNglobal_costmap.global_costmapSensor origin at (-29.31, 17.44) 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 - 3.589ms + 58.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885657 ms (missed cycles : 2). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885657 ms (missed cycles : 2).[0m ×2 + 59.38sWARNglobal_costmap.global_costmapSensor origin at (-28.24, 17.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.38sWARNglobal_costmap.global_costmapSensor origin at (-29.05, 17.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787705510.96121025 seconds ×3 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-7.62, 30.23) is out of map bounds (-12.20, 36.60) to (-7.23, 41.58). The costmap cannot raytrace for it. ×2 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-8.51, 30.35) is out of map bounds (-12.20, 36.60) to (-7.23, 41.58). The costmap cannot raytrace for it. ×2 + 60.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 60.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.268ms + 60.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.062ms + 60.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.468ms + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191143 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191143 ms (missed cycles : 2).[0m ×2 + 60.38sWARNglobal_costmap.global_costmapSensor origin at (-28.35, 17.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.38sWARNglobal_costmap.global_costmapSensor origin at (-28.85, 17.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787705511.54744768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.768ms + 60.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=8.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=8.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.83sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 61.38sWARNglobal_costmap.global_costmapSensor origin at (-28.37, 17.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.38sWARNglobal_costmap.global_costmapSensor origin at (-28.83, 17.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653878 ms (missed cycles : 3). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653878 ms (missed cycles : 3).[0m ×2 + 62.38sWARNglobal_costmap.global_costmapSensor origin at (-28.35, 17.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.38sWARNglobal_costmap.global_costmapSensor origin at (-28.81, 17.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797697 ms (missed cycles : 5). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797697 ms (missed cycles : 5).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	149 warnings · 269 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.59sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 4.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159514 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159514 ms (missed cycles : 2).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.540ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829520 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829520 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302261 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302261 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842507 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842507 ms (missed cycles : 4).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949300 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949300 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125923 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125923 ms (missed cycles : 3).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629019 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629019 ms (missed cycles : 3).[0m ×2 + 14.62sWARNstate_estimatorOptimization exceeded the configured duration by 29599897ns + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170889 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170889 ms (missed cycles : 3).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414086 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414086 ms (missed cycles : 3).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289892 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289892 ms (missed cycles : 2).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874824 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874824 ms (missed cycles : 3).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.132ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131337 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131337 ms (missed cycles : 2).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285959 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285959 ms (missed cycles : 2).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530067 ms (missed cycles : 4). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530067 ms (missed cycles : 4).[0m ×2 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770767 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770767 ms (missed cycles : 3).[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817599 ms (missed cycles : 4). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817599 ms (missed cycles : 4).[0m ×2 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774574 ms (missed cycles : 2). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774574 ms (missed cycles : 2).[0m ×2 + 24.93sWARNstate_estimatorOptimization exceeded the configured duration by 36892551ns + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011472 ms (missed cycles : 2). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011472 ms (missed cycles : 2).[0m ×2 + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237761 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237761 ms (missed cycles : 3).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186775 ms (missed cycles : 3). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186775 ms (missed cycles : 3).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847527 ms (missed cycles : 4). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847527 ms (missed cycles : 4).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517159 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517159 ms (missed cycles : 3).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002747 ms (missed cycles : 3). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002747 ms (missed cycles : 3).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509267 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509267 ms (missed cycles : 3).[0m ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589980 ms (missed cycles : 4). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589980 ms (missed cycles : 4).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354404 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354404 ms (missed cycles : 3).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668956 ms (missed cycles : 3). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668956 ms (missed cycles : 3).[0m ×2 + 35.50sWARNstate_estimatorOptimization exceeded the configured duration by 12732293ns + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222965 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222965 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381130 ms (missed cycles : 3). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381130 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314825 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314825 ms (missed cycles : 3).[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646482 ms (missed cycles : 3). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646482 ms (missed cycles : 3).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891018 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891018 ms (missed cycles : 3).[0m ×2 + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556649 ms (missed cycles : 3). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556649 ms (missed cycles : 3).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977261 ms (missed cycles : 3). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977261 ms (missed cycles : 3).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3).[0m ×2 + 46.09sWARNstate_estimatorOptimization exceeded the configured duration by 3902821ns + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2).[0m ×2 + 47.72sINFOjoint_trajectory_controllerGoal reached, success! + 47.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 47.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 47.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 48.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 49.46sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 49.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.9s	154 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156309 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156309 ms (missed cycles : 2).[0m ×2 + 0.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321116 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321116 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125565 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125565 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736614 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736614 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787705422.25875759 seconds ×3 + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089753 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089753 ms (missed cycles : 4).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.82sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787705423.86350060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214506 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214506 ms (missed cycles : 4).[0m ×2 + 6.05sWARNstate_estimatorOptimization exceeded the configured duration by 1384235ns + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226412 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226412 ms (missed cycles : 4).[0m ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.24sINFOjoint_trajectory_controllerReceived new action goal + 7.24sINFOjoint_trajectory_controllerAccepted new action goal + 7.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007764 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007764 ms (missed cycles : 4).[0m ×2 + 8.28sINFOros2_control_nodeMuJoCo sim: 5.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204888 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204888 ms (missed cycles : 3).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.369ms + 9.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.756ms + 9.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.333ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771969 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771969 ms (missed cycles : 2).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.895ms + 9.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.078ms + 10.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.849ms + 10.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294042 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294042 ms (missed cycles : 3).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.834ms + 10.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.237ms + 11.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 11.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.984ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202610 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202610 ms (missed cycles : 3).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.765ms + 12.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.049ms + 12.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.979ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820845 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820845 ms (missed cycles : 3).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 5.311ms + 12.98sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 4.979ms + 13.28sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.487ms + 13.48sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 4.053ms + 13.67sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.455ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126531 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126531 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.473ms + 14.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.795ms + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787559 ms (missed cycles : 5). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787559 ms (missed cycles : 5).[0m ×2 + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.103ms + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059920 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059920 ms (missed cycles : 2).[0m ×2 + 16.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.298ms + 16.25sWARNstate_estimatorOptimization exceeded the configured duration by 8589216ns + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 16.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558718 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558718 ms (missed cycles : 3).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 17.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.769ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316374 ms (missed cycles : 6). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316374 ms (missed cycles : 6).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 18.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.119ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757410 ms (missed cycles : 3). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757410 ms (missed cycles : 3).[0m ×2 + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms ×3 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.179ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113250 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113250 ms (missed cycles : 2).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.650ms + 20.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.6 s (AMCL untrusted, spread=0.65); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.865ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914156 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914156 ms (missed cycles : 2).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.202ms ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349585 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349585 ms (missed cycles : 2).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 22.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616520 ms (missed cycles : 3). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616520 ms (missed cycles : 3).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.458ms + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.413ms + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094744 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094744 ms (missed cycles : 3).[0m ×2 + 24.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.046ms + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737353 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737353 ms (missed cycles : 2).[0m ×2 + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.771ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921408 ms (missed cycles : 4). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921408 ms (missed cycles : 4).[0m ×2 + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 26.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.8 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 26.75sWARNstate_estimatorOptimization exceeded the configured duration by 481197ns + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274011 ms (missed cycles : 4). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274011 ms (missed cycles : 4).[0m ×2 + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.973ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.126ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403548 ms (missed cycles : 4). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403548 ms (missed cycles : 4).[0m ×2 + 28.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.8 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567752 ms (missed cycles : 4). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567752 ms (missed cycles : 4).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.929ms + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.593ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.146ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141305 ms (missed cycles : 4). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141305 ms (missed cycles : 4).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 30.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.569ms + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918654 ms (missed cycles : 4). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918654 ms (missed cycles : 4).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.046ms + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.503ms + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4).[0m ×2 + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 32.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.262ms + 33.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 34.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 34.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.182ms + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2).[0m ×2 + 34.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 35.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4).[0m ×2 + 35.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 36.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705455.19364548 seconds ×3 + 36.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 36.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 36.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705455.78105354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.77sWARNstate_estimatorOptimization exceeded the configured duration by 21937685ns + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3).[0m ×2 + 37.13sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 37.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.8s	149 warnings · 198 info
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.06sWARNglobal_costmap.global_costmapSensor origin at (9.64, 86.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.06sWARNglobal_costmap.global_costmapSensor origin at (8.86, 86.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390212 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390212 ms (missed cycles : 3).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 1.06sWARNglobal_costmap.global_costmapSensor origin at (9.75, 86.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.06sWARNglobal_costmap.global_costmapSensor origin at (8.98, 86.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000431 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000431 ms (missed cycles : 3).[0m ×2 + 2.06sWARNglobal_costmap.global_costmapSensor origin at (9.73, 86.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.06sWARNglobal_costmap.global_costmapSensor origin at (8.99, 86.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.8 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.8 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.393ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847846 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847846 ms (missed cycles : 3).[0m ×2 + 2.55sWARNstate_estimatorOptimization exceeded the configured duration by 722684ns + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.130ms + 3.06sWARNglobal_costmap.global_costmapSensor origin at (9.56, 86.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.06sWARNglobal_costmap.global_costmapSensor origin at (8.91, 86.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364206 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364206 ms (missed cycles : 4).[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 3.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705665.37968087 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-16.55, 70.85) is out of map bounds (-18.40, 64.00) to (-13.43, 68.97). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-17.45, 70.88) is out of map bounds (-18.40, 64.00) to (-13.43, 68.97). The costmap cannot raytrace for it. + 4.06sWARNglobal_costmap.global_costmapSensor origin at (5.68, 79.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.06sWARNglobal_costmap.global_costmapSensor origin at (5.06, 80.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.816ms + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.399ms + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.8 s (AMCL untrusted, spread=8.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.8 s (AMCL untrusted, spread=8.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429969 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429969 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705665.97944236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 5.06sWARNglobal_costmap.global_costmapSensor origin at (9.48, 85.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.06sWARNglobal_costmap.global_costmapSensor origin at (8.86, 86.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250946 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250946 ms (missed cycles : 3).[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim: 11.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.0 s (AMCL untrusted, spread=8.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 199.0 s (AMCL untrusted, spread=8.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993154 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993154 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311740 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311740 ms (missed cycles : 4).[0m ×2 + 8.06sWARNglobal_costmap.global_costmapSensor origin at (9.49, 85.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.06sWARNglobal_costmap.global_costmapSensor origin at (8.87, 86.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134926 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134926 ms (missed cycles : 3).[0m ×2 + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 201.2 s (AMCL untrusted, spread=8.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 201.2 s (AMCL untrusted, spread=8.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.06sWARNglobal_costmap.global_costmapSensor origin at (9.51, 85.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.06sWARNglobal_costmap.global_costmapSensor origin at (8.88, 86.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505335 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505335 ms (missed cycles : 2).[0m ×2 + 10.06sWARNglobal_costmap.global_costmapSensor origin at (9.52, 85.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.06sWARNglobal_costmap.global_costmapSensor origin at (8.89, 86.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 203.2 s (AMCL untrusted, spread=8.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 203.2 s (AMCL untrusted, spread=8.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960897 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960897 ms (missed cycles : 2).[0m ×2 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.06sWARNglobal_costmap.global_costmapSensor origin at (9.53, 85.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 11.06sWARNglobal_costmap.global_costmapSensor origin at (8.89, 86.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 11.67sINFOobjective_server_nodeFound path in 33 iterations (0.0483307 s). ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101239 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101239 ms (missed cycles : 3).[0m ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.15sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 12.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887414 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887414 ms (missed cycles : 3).[0m ×2 + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 205.4 s (AMCL untrusted, spread=8.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 205.4 s (AMCL untrusted, spread=8.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.83sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 13.38sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.71sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801861 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801861 ms (missed cycles : 3).[0m ×2 + 13.96sWARNstate_estimatorOptimization exceeded the configured duration by 13340574ns + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 207.4 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 207.4 s (AMCL untrusted, spread=8.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.955ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155854 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155854 ms (missed cycles : 2).[0m ×2 + 15.06sWARNglobal_costmap.global_costmapSensor origin at (9.60, 85.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.06sWARNglobal_costmap.global_costmapSensor origin at (8.97, 86.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.490ms + 15.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.237ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2).[0m ×2 + 16.06sWARNglobal_costmap.global_costmapSensor origin at (9.82, 85.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.06sWARNglobal_costmap.global_costmapSensor origin at (9.18, 86.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.082ms + 16.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.996ms + 16.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.575ms + 16.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.561ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4).[0m ×2 + 17.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.06sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.06sWARNglobal_costmap.global_costmapSensor origin at (9.52, 85.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.779ms + 17.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.136ms + 17.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.845ms + 17.88sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 7.770ms + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4).[0m ×2 + 18.06sWARNglobal_costmap.global_costmapSensor origin at (10.50, 84.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.06sWARNglobal_costmap.global_costmapSensor origin at (9.88, 85.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.18sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.112ms + 18.58sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.197ms + 19.06sWARNglobal_costmap.global_costmapSensor origin at (10.71, 84.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.06sWARNglobal_costmap.global_costmapSensor origin at (10.08, 85.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.275ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3).[0m ×2 + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705681.14619207 seconds ×3 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 20.06sWARNglobal_costmap.global_costmapSensor origin at (10.77, 84.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 20.06sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3).[0m ×2 + 20.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705681.77723360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.34sINFOmove_groupClearing octomap...[0m ×2 + 20.34sINFOmove_groupOctomap cleared.[0m ×2 + 20.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705682.37736630 seconds ×3 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2).[0m ×2 + 21.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705682.96080637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.06sWARNglobal_costmap.global_costmapSensor origin at (10.76, 84.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.06sWARNglobal_costmap.global_costmapSensor origin at (10.14, 85.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3).[0m ×2 + 22.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705683.74098134 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.7s	101 errors · 83 warnings · 453 info
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.575ms + 0.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.561ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4).[0m ×2 + 0.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.32sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.38sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.38sWARNglobal_costmap.global_costmapSensor origin at (9.52, 85.95) 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: 2000 particles 723 points - 5.779ms + 0.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.136ms + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.845ms + 1.20sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 7.770ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4).[0m ×2 + 1.38sWARNglobal_costmap.global_costmapSensor origin at (10.50, 84.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.38sWARNglobal_costmap.global_costmapSensor origin at (9.88, 85.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.50sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.112ms + 1.90sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.197ms + 2.38sWARNglobal_costmap.global_costmapSensor origin at (10.71, 84.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.38sWARNglobal_costmap.global_costmapSensor origin at (10.08, 85.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.275ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3).[0m ×2 + 2.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705681.14619207 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 3.38sWARNglobal_costmap.global_costmapSensor origin at (10.77, 84.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 3.38sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705681.77723360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705682.37736630 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2).[0m ×2 + 4.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705682.96080637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNglobal_costmap.global_costmapSensor origin at (10.76, 84.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×8 + 5.38sWARNglobal_costmap.global_costmapSensor origin at (10.14, 85.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×8 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705683.74098134 seconds ×3 + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=3.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771372 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771372 ms (missed cycles : 3).[0m ×2 + 6.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=3.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126689 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126689 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648344 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648344 ms (missed cycles : 2).[0m ×2 + 8.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=3.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 218.0 s (AMCL untrusted, spread=3.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536242 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536242 ms (missed cycles : 3).[0m ×2 + 10.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=3.70); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 220.0 s (AMCL untrusted, spread=3.70); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740584 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740584 ms (missed cycles : 3).[0m ×2 + 11.81sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.82sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.85sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 11.87sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.87sERRORweb_video_auth_proxy-38process has died [pid 9682, 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 + 11.88sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.88sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 11.92sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORweb_bridge_auth_proxy-37process has died [pid 9681, 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 + 11.93sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889826 ms (missed cycles : 2). + 11.94sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORodom_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 + 11.97sERRORslip_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 + 11.98sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 12.03sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 12.06sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 12.09sINFOvideo_server-36process has finished cleanly [pid 9680] ×2 + 12.09sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 12.11sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 12.15sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 12.18sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 12.21sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 12.24sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 12.28sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 12.32sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 12.34sINFOtf2_web_republisher_node-35process has finished cleanly [pid 9679] ×2 + 12.34sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 12.36sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 12.37sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787705690.190 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.39sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889826 ms (missed cycles : 2).[0m ×2 + 12.44sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 12.44sINFOcontroller_managerShutdown request received.... + 12.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.44sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.44sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.44sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.44sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.44sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.44sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.44sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.44sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.44sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.44sINFOcontroller_managerShutting down the controller manager. + 12.47sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 12.48sINFOui_teleop_bridge-33process has finished cleanly [pid 9677] ×2 + 12.48sERRORmove_group-24process has died [pid 9636, 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_u0fqsx63 --params-file /tmp/launch_params_jes_c3z5 --params-file /tmp/launch_params_waittj08 --params-file /tmp/launch_params_a4ugpdz7 --params-file /tmp/launch_params_iv9gujti --params-file /tmp/launch_params_ph0m2yu8']. ×2 + 12.48sINFOcomponent_container_mt-31process has finished cleanly [pid 9675] ×2 + 12.50sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.52sWARNamcl_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. + 12.53sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.54sINFOexecute_objective_bridge-32process has finished cleanly [pid 9676] ×2 + 12.56sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] ×2 + 12.59sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] ×2 + 12.61sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] ×2 + 12.64sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] ×2 + 12.67sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 12.70sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.73sINFOmap_serverDeactivating + 12.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.74sINFOmap_serverCleaning up + 12.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.75sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.75sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.75sINFOcontroller_serverDeactivating + 12.75sINFOlocal_costmap.local_costmapDeactivating + 12.76sERRORamclThe bond connection to the lifecycle manager has been broken + 12.76sINFOvideo_server2026/08/26 00:54:50 INF shutting down gracefully ×2 + 12.76sINFOvideo_server2026/08/26 00:54:50 INF [WebRTC] closing ×2 + 12.76sINFOvideo_server2026/08/26 00:54:50 INF [RTSP] closing ×2 + 12.76sINFOvideo_server2026/08/26 00:54:50 INF waiting for running hooks ×2 + 12.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.76sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.76sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.76sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.76sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.76sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.76sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.77sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.77sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.77sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.77sERRORmove_groupStack trace (most recent call last) in thread 10324: ×2 + 12.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68622aeb63, in __clone ×2 + 12.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6862221b83, in ×2 + 12.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68624b3db3, in ×2 + 12.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6862c24637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6862845620, in rclcpp::Rate::sleep() ×2 + 12.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6862787d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6862749087, in ×2 + 12.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6862482390, in __cxa_throw ×2 + 12.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f686246ca54, in std::terminate() ×2 + 12.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68624820d9, in ×2 + 12.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f686246cff4, in ×2 + 12.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68621ad8fe, in abort ×2 + 12.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68621ca27d, in raise ×2 + 12.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6862223c0c, in pthread_kill ×2 + 12.77sERRORmove_groupAborted (Signal sent by tkill() 9636 0) ×2 + 12.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.78sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.78sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.78sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.78sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.78sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.78sWARNamcl_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 + 12.79sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.79sINFOodom_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 + 12.79sINFOodom_qos_relay.pymain() ×2 + 12.79sINFOodom_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 + 12.79sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.79sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.79sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.79sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.79sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.79sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.79sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.79sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.79sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.79sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.79sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.79sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.79sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.79sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.85sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.86sINFOcontroller_serverCleaning up + 12.86sINFOlocal_costmap.local_costmapCleaning up + 12.91sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.91sINFOsmoother_serverDeactivating + 12.91sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.92sINFOsmoother_serverCleaning up + 12.94sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.94sINFOplanner_serverDeactivating + 12.94sINFOglobal_costmap.global_costmapDeactivating + 12.96sERRORcomponent_container_isolated-2process has died [pid 9532, 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_2uefcjwm --params-file /tmp/launch_params_8tgo_evj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.04sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 13.04sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 13.04sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 13.04sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 13.04sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 13.04sINFOvelocity_smootherDeactivating + 13.04sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 13.15sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 13.15sINFOwaypoint_followerDeactivating + 13.15sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 13.26sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 13.26sINFObt_navigatorDeactivating + 13.26sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.31sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 9672] ×2 + 13.34sINFOmove_joint_resampler_node-27process has finished cleanly [pid 9671] ×2 + 13.38sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.38sINFObehavior_serverDeactivating + 13.38sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.38sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.38sINFOobjective_server_node[2026-08-26 00:54:51.494] [moveit_pro_license] [critical] ×2 + 13.38sINFOobjective_server_node************************************************* ×4 + 13.38sINFOobjective_server_node* MoveIt Pro License ×2 + 13.38sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.39sINFOplanner_serverCleaning up + 13.41sINFOglobal_costmap.global_costmapCleaning up + 13.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.42sINFOcomponent_container_mt-30process has finished cleanly [pid 9674] ×2 + 13.43sINFOparameter_manager_node-25process has finished cleanly [pid 9668] ×2 + 13.43sINFOwaypoint_manager_node-26process has finished cleanly [pid 9670] ×2 + 13.45sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.45sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.45sINFObt_navigatorCleaning up + 13.45sINFOobjective_server_node_main-29process has finished cleanly [pid 9673] ×2 + 13.45sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 13.49sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.49sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.49sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.49sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.49sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.49sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.49sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.50sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.50sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.50sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.50sINFOvelocity_smootherCleaning up + 13.50sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.50sINFOwaypoint_followerCleaning up + 13.53sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.55sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 9618] ×2 + 13.55sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.55sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 13.55sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.55sINFObehavior_serverCleaning up + 13.58sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 9539] ×2 + 13.60sINFObt_navigatorCompleted Cleaning up + 13.60sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.60sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.60sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.61sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.61sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.61sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.61sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.61sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.61sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.61sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.68sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 9538] ×2 + 13.69sERRORodom_qos_relay.py-7process has died [pid 9537, 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 + 13.74sINFOstatic_transform_publisher-3process has finished cleanly [pid 9533] ×2 + 13.83sINFOslip_aware_odom-5process has finished cleanly [pid 9535] ×2 + 13.92sERRORcomponent_container_isolated-1process has died [pid 9531, 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_2uefcjwm --params-file /tmp/launch_params_f3mci8jk -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.65sINFOamcl_odom_gate-6process has finished cleanly [pid 9536] ×2 + 14.71sINFOodom_world_drift-4process has finished cleanly [pid 9534] ×2 + 14.94sINFOweb_bridge-34process has finished cleanly [pid 9678] ×2 + 14.94sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 15.18sINFOros2_control_node-12process has finished cleanly [pid 9620] ×2 + 16.82sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.83sINFOfixed_lag_smoother_node-11sending signal 'SIGKILL' to process[fixed_lag_smoother_node-11] ×2 + 16.84sERRORfixed_lag_smoother_node-11process has died [pid 9619, exit code -9, cmd '/opt/ros/jazzy/lib/fuse_optimizers/fixed_lag_smoother_node --ros-args -r __node:=state_estimator --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/fuse/fuse.yaml --params-file /tmp/launch_params_xf5ohjej']. ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 115 warnings · 134 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.709ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936110 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936110 ms (missed cycles : 3).[0m ×2 + 0.27sWARNstate_estimatorOptimization exceeded the configured duration by 1911471ns + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.407ms + 0.48sWARNglobal_costmap.global_costmapSensor origin at (-28.79, 17.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.48sWARNglobal_costmap.global_costmapSensor origin at (-29.63, 17.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469779 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469779 ms (missed cycles : 3).[0m ×2 + 1.48sWARNglobal_costmap.global_costmapSensor origin at (-28.61, 17.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.48sWARNglobal_costmap.global_costmapSensor origin at (-29.45, 17.49) 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 - 1.862ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091181 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091181 ms (missed cycles : 5).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.834ms + 2.48sWARNglobal_costmap.global_costmapSensor origin at (-28.47, 17.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.48sWARNglobal_costmap.global_costmapSensor origin at (-29.31, 17.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.589ms + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885657 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885657 ms (missed cycles : 2).[0m ×2 + 3.48sWARNglobal_costmap.global_costmapSensor origin at (-28.24, 17.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.48sWARNglobal_costmap.global_costmapSensor origin at (-29.05, 17.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787705510.96121025 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.97sINFOros2_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 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-7.62, 30.23) is out of map bounds (-12.20, 36.60) to (-7.23, 41.58). The costmap cannot raytrace for it. ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-8.51, 30.35) is out of map bounds (-12.20, 36.60) to (-7.23, 41.58). The costmap cannot raytrace for it. ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.268ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.062ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.468ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191143 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191143 ms (missed cycles : 2).[0m ×2 + 4.48sWARNglobal_costmap.global_costmapSensor origin at (-28.35, 17.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.48sWARNglobal_costmap.global_costmapSensor origin at (-28.85, 17.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787705511.54744768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.768ms + 4.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=8.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.83sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.0 s (AMCL untrusted, spread=8.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.48sWARNglobal_costmap.global_costmapSensor origin at (-28.37, 17.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.48sWARNglobal_costmap.global_costmapSensor origin at (-28.83, 17.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653878 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653878 ms (missed cycles : 3).[0m ×2 + 6.48sWARNglobal_costmap.global_costmapSensor origin at (-28.35, 17.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.48sWARNglobal_costmap.global_costmapSensor origin at (-28.81, 17.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797697 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797697 ms (missed cycles : 5).[0m ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.2 s (AMCL untrusted, spread=8.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.2 s (AMCL untrusted, spread=8.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.10sINFOjoint_trajectory_controllerReceived new action goal + 7.10sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953376 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953376 ms (missed cycles : 2).[0m ×2 + 8.48sWARNglobal_costmap.global_costmapSensor origin at (-28.45, 17.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.48sWARNglobal_costmap.global_costmapSensor origin at (-28.86, 17.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011162 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011162 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.255ms + 9.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.406ms + 9.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.2 s (AMCL untrusted, spread=7.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.2 s (AMCL untrusted, spread=7.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.368ms + 9.48sWARNglobal_costmap.global_costmapSensor origin at (-28.80, 18.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.48sWARNglobal_costmap.global_costmapSensor origin at (-29.15, 17.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.782ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603790 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603790 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.127ms + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.689ms + 10.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.488ms + 10.47sWARNstate_estimatorOptimization exceeded the configured duration by 2816766ns + 10.48sWARNglobal_costmap.global_costmapSensor origin at (-29.32, 18.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.48sWARNglobal_costmap.global_costmapSensor origin at (-29.65, 17.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.430ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723654 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723654 ms (missed cycles : 3).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.785ms + 11.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.070ms + 11.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.128ms + 11.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.4 s (AMCL untrusted, spread=3.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.48sWARNglobal_costmap.global_costmapSensor origin at (-29.85, 18.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.48sWARNglobal_costmap.global_costmapSensor origin at (-30.19, 17.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.895ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863703 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863703 ms (missed cycles : 3).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.503ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.726ms + 12.48sWARNglobal_costmap.global_costmapSensor origin at (-30.38, 18.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.48sWARNglobal_costmap.global_costmapSensor origin at (-30.70, 17.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.131ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839878 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839878 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.163ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 13.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.6 s (AMCL untrusted, spread=1.94); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 51.6 s (AMCL untrusted, spread=1.94); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.48sWARNglobal_costmap.global_costmapSensor origin at (-30.92, 18.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.48sWARNglobal_costmap.global_costmapSensor origin at (-31.26, 17.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219227 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219227 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.991ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 14.48sWARNglobal_costmap.global_costmapSensor origin at (-31.41, 18.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.48sWARNglobal_costmap.global_costmapSensor origin at (-31.75, 17.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 14.68sINFOobjective_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 + 14.68sINFOjoint_trajectory_controllerGot request to cancel goal + 14.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.70sERRORobjective_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: 1787705521.71890974 seconds ×3 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.674ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726554 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726554 ms (missed cycles : 4).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 15.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787705522.30819774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.6 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 53.6 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.48sWARNglobal_costmap.global_costmapSensor origin at (-31.60, 18.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.48sWARNglobal_costmap.global_costmapSensor origin at (-32.06, 17.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.68sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913519 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913519 ms (missed cycles : 4).[0m ×2 + 16.48sWARNglobal_costmap.global_costmapSensor origin at (-31.62, 18.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.48sWARNglobal_costmap.global_costmapSensor origin at (-32.07, 17.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779663 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779663 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	50 warnings · 99 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156309 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156309 ms (missed cycles : 2).[0m ×2 + 7.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=1.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321116 ms (missed cycles : 6). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321116 ms (missed cycles : 6).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125565 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125565 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736614 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736614 ms (missed cycles : 3).[0m ×2 + 10.41sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787705422.25875759 seconds ×3 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089753 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089753 ms (missed cycles : 4).[0m ×2 + 12.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787705423.86350060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.40sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214506 ms (missed cycles : 4). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214506 ms (missed cycles : 4).[0m ×2 + 13.24sWARNstate_estimatorOptimization exceeded the configured duration by 1384235ns + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226412 ms (missed cycles : 4). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226412 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	83 warnings · 102 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 0.28sWARNglobal_costmap.global_costmapSensor origin at (-43.29, 48.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.28sWARNglobal_costmap.global_costmapSensor origin at (-43.85, 47.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771306 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771306 ms (missed cycles : 5).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.098ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 1.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.02sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 129.4 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 1.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.28sWARNglobal_costmap.global_costmapSensor origin at (-43.94, 47.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846755 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846755 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 2.28sWARNglobal_costmap.global_costmapSensor origin at (-43.60, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.28sWARNglobal_costmap.global_costmapSensor origin at (-44.02, 48.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.383ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847929 ms (missed cycles : 5). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847929 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.424ms + 3.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 131.6 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.28sWARNglobal_costmap.global_costmapSensor origin at (-43.66, 49.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.28sWARNglobal_costmap.global_costmapSensor origin at (-44.07, 48.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690440 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690440 ms (missed cycles : 2).[0m ×2 + 3.88sWARNstate_estimatorOptimization exceeded the configured duration by 4862121ns + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705601.32839489 seconds ×3 + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sWARNglobal_costmap.global_costmapSensor origin at (-43.67, 49.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.28sWARNglobal_costmap.global_costmapSensor origin at (-44.08, 48.33) 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 - 2.569ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 4.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705601.92417669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925220 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925220 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 5.21sINFOjoint_trajectory_controllerReceived new action goal + 5.21sINFOjoint_trajectory_controllerAccepted new action goal + 5.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.22sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.6 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.28sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955357 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955357 ms (missed cycles : 2).[0m ×2 + 6.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.28sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 7.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.42sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 8.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 9.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 10.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.28sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 11.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.28sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.28sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 11.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.4s	31 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3).[0m ×2 + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 3902821ns + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.919ms + 7.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705358.78373027 seconds ×3 + 8.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705359.38001013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	52 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.490ms + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.237ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2).[0m ×2 + 0.67sWARNglobal_costmap.global_costmapSensor origin at (9.82, 85.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.67sWARNglobal_costmap.global_costmapSensor origin at (9.18, 86.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.082ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.996ms + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.575ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.561ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4).[0m ×2 + 1.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.67sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.67sWARNglobal_costmap.global_costmapSensor origin at (9.52, 85.95) 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: 2000 particles 723 points - 5.779ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.136ms + 2.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.845ms + 2.50sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 7.770ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4).[0m ×2 + 2.67sWARNglobal_costmap.global_costmapSensor origin at (10.50, 84.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.67sWARNglobal_costmap.global_costmapSensor origin at (9.88, 85.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.79sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.112ms + 3.19sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.197ms + 3.67sWARNglobal_costmap.global_costmapSensor origin at (10.71, 84.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.67sWARNglobal_costmap.global_costmapSensor origin at (10.08, 85.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.275ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3).[0m ×2 + 3.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.30sINFOjoint_trajectory_controllerGoal reached, success! + 4.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705681.14619207 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 4.67sWARNglobal_costmap.global_costmapSensor origin at (10.77, 84.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.67sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705681.77723360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.96sINFOmove_groupClearing octomap...[0m ×2 + 4.96sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705682.37736630 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2).[0m ×2 + 5.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705682.96080637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sWARNglobal_costmap.global_costmapSensor origin at (10.76, 84.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.67sWARNglobal_costmap.global_costmapSensor origin at (10.14, 85.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705683.74098134 seconds ×3 + 7.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=3.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771372 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771372 ms (missed cycles : 3).[0m ×2 + 8.11sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.8 s (AMCL untrusted, spread=3.67); 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	22 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.59sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 4.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.20sINFOjoint_trajectory_controllerAccepted new action goal + 6.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 96 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOjoint_trajectory_controllerReceived new action goal + 1.76sINFOjoint_trajectory_controllerAccepted new action goal + 1.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569605 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.919ms + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705358.78373027 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705359.38001013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351670 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242569 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	28 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.503ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.262ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.182ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705455.19364548 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705455.78105354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sWARNstate_estimatorOptimization exceeded the configured duration by 21937685ns + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	28 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.503ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.262ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.182ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705455.19364548 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705455.78105354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sWARNstate_estimatorOptimization exceeded the configured duration by 21937685ns + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	22 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3).[0m ×2 + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 3902821ns + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	22 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343609 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182272 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123265 ms (missed cycles : 3).[0m ×2 + 2.48sWARNstate_estimatorOptimization exceeded the configured duration by 3902821ns + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284386 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705355.35389161 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152076 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.224ms + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705355.94360161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304371 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.5898e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729579 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	25 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864540 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.272ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738452 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.842ms + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.79sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980944 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421900 ms (missed cycles : 4).[0m ×2 + 3.16sWARNstate_estimatorOptimization exceeded the configured duration by 18091157ns + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.845ms + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.974ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383385 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705415.97015119 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.436ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.435ms + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705416.56862426 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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869986 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133981 ms (missed cycles : 4).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	28 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.774ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.503ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037168 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.72sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.262ms + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229497 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.148ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.182ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098215 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.92sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293725 ms (missed cycles : 4).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705455.19364548 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705455.78105354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sWARNstate_estimatorOptimization exceeded the configured duration by 21937685ns + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961394 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.12sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.4 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272212 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	41 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370904 ms (missed cycles : 3).[0m ×2 + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.43sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.8 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288752 ms (missed cycles : 2).[0m ×2 + 1.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 48.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478996 ms (missed cycles : 3).[0m ×2 + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 10.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679915 ms (missed cycles : 3).[0m ×2 + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.01) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.29sWARNglobal_costmap.global_costmapSensor origin at (-44.26, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705607.83437204 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281636 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705608.44953799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-43.50, 49.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.29sWARNglobal_costmap.global_costmapSensor origin at (-44.27, 48.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.63sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553741 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	44 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.490ms + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.237ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159323 ms (missed cycles : 2).[0m ×2 + 0.67sWARNglobal_costmap.global_costmapSensor origin at (9.82, 85.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.67sWARNglobal_costmap.global_costmapSensor origin at (9.18, 86.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.082ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.996ms + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.575ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.561ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590234 ms (missed cycles : 4).[0m ×2 + 1.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.62sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 209.6 s (AMCL untrusted, spread=6.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.67sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.67sWARNglobal_costmap.global_costmapSensor origin at (9.52, 85.95) 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: 2000 particles 723 points - 5.779ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.136ms + 2.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.845ms + 2.50sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 7.770ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342949 ms (missed cycles : 4).[0m ×2 + 2.67sWARNglobal_costmap.global_costmapSensor origin at (10.50, 84.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.67sWARNglobal_costmap.global_costmapSensor origin at (9.88, 85.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.79sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.112ms + 3.19sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 3.197ms + 3.67sWARNglobal_costmap.global_costmapSensor origin at (10.71, 84.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.67sWARNglobal_costmap.global_costmapSensor origin at (10.08, 85.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.275ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413012 ms (missed cycles : 3).[0m ×2 + 3.81sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 211.8 s (AMCL untrusted, spread=4.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.30sINFOjoint_trajectory_controllerGoal reached, success! + 4.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705681.14619207 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 4.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 4.67sWARNglobal_costmap.global_costmapSensor origin at (10.77, 84.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.67sWARNglobal_costmap.global_costmapSensor origin at (10.15, 85.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815761 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705681.77723360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.96sINFOmove_groupClearing octomap...[0m ×2 + 4.96sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705682.37736630 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327367 ms (missed cycles : 2).[0m ×2 + 5.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.82sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 213.8 s (AMCL untrusted, spread=3.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705682.96080637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sWARNglobal_costmap.global_costmapSensor origin at (10.76, 84.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.67sWARNglobal_costmap.global_costmapSensor origin at (10.14, 85.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922246 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705683.74098134 seconds ×3

▾/__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 · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.23sINFOjoint_trajectory_controllerReceived new action goal + 7.23sINFOjoint_trajectory_controllerAccepted new action goal + 7.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 3.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.26sINFOmove_groupClearing octomap...[0m ×2 + 4.26sINFOmove_groupOctomap cleared.[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 6.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 6.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235054 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 1.76sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 3.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.26sINFOmove_groupClearing octomap...[0m ×2 + 4.26sINFOmove_groupOctomap cleared.[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	19 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820428 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 3.81% 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 1.983522 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 5.63sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[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 · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2

▾/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
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[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 · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.81% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983522 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558324 ms (missed cycles : 3).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546079 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705309.81010294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705309.82035637 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705310.41149831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705310.42163134 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257165 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705311.00462222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705311.15522170 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705311.78143883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659240 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705311.84158659 seconds ×3 + 4.88sWARNstate_estimatorOptimization exceeded the configured duration by 3905252ns + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705312.43056250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892381 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790959 ms (missed cycles : 4).[0m ×2