MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.2s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.5s	12 errors · 335 warnings · 1403 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/2026-08-26-00-49-45-722599-42904df28279-9480 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.99sINFOstatic_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' + 14.03sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast. ×5 + 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> + 14.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.15sINFOcontroller_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. + 14.17sINFOmap_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. + 14.17sINFOmap_serverCreating + 14.19sINFOcontroller_serverCreating controller server + 14.24sINFOlocal_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. + 14.25sINFOlocal_costmap.local_costmapCreating Costmap + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.30sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.32sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.33sINFOcontroller_managerupdate rate is 600 Hz + 14.33sINFOcontroller_managerOverruns handling is : enabled + 14.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.33sWARNcontroller_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. + 14.35sINFOstate_estimatorReceived a set_pose request (stamp: 1787705403577337339, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 14.36sINFOsmoother_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. + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.39sINFOros2_control_node-12process started with pid [9619] ×2 + 14.39sINFOsmoother_serverCreating smoother server + 14.41sINFOmove_group-24process started with pid [9638] ×2 + 14.41sINFOparameter_manager_node-25process started with pid [9670] ×2 + 14.41sINFOwaypoint_manager_node-26process started with pid [9672] ×2 + 14.41sINFOmove_joint_resampler_node-27process started with pid [9675] ×2 + 14.41sINFOmove_end_effector_resampler_node-28process started with pid [9676] ×2 + 14.41sINFOobjective_server_node_main-29process started with pid [9677] ×2 + 14.41sINFOcomponent_container_mt-30process started with pid [9680] ×2 + 14.41sINFOcomponent_container_mt-31process started with pid [9682] ×2 + 14.41sINFOexecute_objective_bridge-32process started with pid [9685] ×2 + 14.41sINFOui_teleop_bridge-33process started with pid [9686] ×2 + 14.41sINFOweb_bridge-34process started with pid [9706] ×2 + 14.41sINFOtf2_web_republisher_node-35process started with pid [9707] ×2 + 14.41sINFOvideo_server-36process started with pid [9709] ×2 + 14.41sINFOweb_bridge_auth_proxy-37process started with pid [9710] ×2 + 14.41sINFOweb_video_auth_proxy-38process started with pid [9711] ×2 + 14.42sINFOlifecycle_manager_localizationCreating + 14.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.43sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.43sINFOcomponent_container_isolated-1process started with pid [9530] ×2 + 14.43sINFOcomponent_container_isolated-2process started with pid [9531] ×2 + 14.44sINFOstatic_transform_publisher-3process started with pid [9532] ×2 + 14.44sINFOodom_world_drift-4process started with pid [9533] ×2 + 14.44sINFOslip_aware_odom-5process started with pid [9534] ×2 + 14.44sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.44sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.44sINFOmap_serverConfiguring + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.44sINFOamcl_odom_gate-6process started with pid [9535] ×2 + 14.44sINFOodom_qos_relay.py-7process started with pid [9536] ×2 + 14.44sINFOforward_stereo_publisher.py-8process started with pid [9537] ×2 + 14.44sINFOscan_to_scan_filter_chain-9process started with pid [9538] ×2 + 14.44sINFOscan_to_scan_filter_chain-10process started with pid [9617] ×2 + 14.44sINFOfixed_lag_smoother_node-11process started with pid [9618] ×2 + 14.44sINFOros2-13process started with pid [9620] ×2 + 14.44sINFOros2-14process started with pid [9621] ×2 + 14.44sINFOros2-15process started with pid [9622] ×2 + 14.44sINFOros2-16process started with pid [9623] ×2 + 14.44sINFOros2-17process started with pid [9626] ×2 + 14.44sINFOros2-18process started with pid [9628] ×2 + 14.44sINFOros2-19process started with pid [9629] ×2 + 14.44sINFOros2-20process started with pid [9630] ×2 + 14.44sINFOros2-21process started with pid [9633] ×2 + 14.44sINFOros2-22process started with pid [9636] ×2 + 14.44sINFOros2-23process started with pid [9637] ×2 + 14.45sINFOplanner_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. + 14.46sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005066 ms (missed cycles : 4). + 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. + 14.51sINFOplanner_serverCreating + 14.54sINFOglobal_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. + 14.55sINFOglobal_costmap.global_costmapCreating Costmap + 14.57sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.57sINFOamclConfiguring + 14.57sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×2 + 14.57sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×2 + 14.57sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 14.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 14.57sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.58sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast.[0m ×10 + 14.58sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.58sINFOmap_serverActivating + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.58sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.58sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.58sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.58sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.58sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.58sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.58sWARNros2_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 + 14.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005066 ms (missed cycles : 4).[0m ×2 + 14.60sWARNslip_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 + 14.63sINFObehavior_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. + 14.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.68sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.68sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.68sINFOamclActivating + 14.68sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.68sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.69sINFOamclSubscribed to map_topic: /map + 14.69sINFOamclSubscribed to scan_topic: /scan_merged + 14.70sINFOamclCreated reinitialize_global_localization service + 14.70sINFOamclCreated request_nomotion_update service + 14.70sINFOamclA new map was received + 14.70sINFOamclInitializing particle filter instance + 14.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.77sINFObt_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. + 14.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.78sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.79sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.81sINFObt_navigatorCreating + 14.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.87sINFOwaypoint_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. + 14.88sINFOwaypoint_followerCreating + 14.88sINFOrobot_state_publisherRobot initialized + 14.88sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.88sINFOcontroller_managerReceived robot description from topic. + 14.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.92sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.95sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 15.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 15.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 15.01sWARNlaser_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. + 15.01sWARNscan_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 + 15.02sINFOlifecycle_manager_navigationCreating + 15.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 15.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 15.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 15.06sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.09sINFOcontroller_serverConfiguring controller interface + 15.09sINFOcontroller_servergetting progress checker plugins.. + 15.09sINFOcontroller_servergetting goal checker plugins.. + 15.09sINFOcontroller_serverController frequency set to 20.0000Hz + 15.09sINFOlocal_costmap.local_costmapConfiguring + 15.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.13sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.15sWARNlaser_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. + 15.15sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.15sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.21sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.22sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.22sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.23sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.24sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.26sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.28sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.28sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.29sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.29sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.30sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.30sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.31sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.31sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.274 seconds + 15.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.31sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.32sINFOmove_groupLoaded robot model in 0.274 seconds[0m ×2 + 15.32sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.32sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.33sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.33sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.33sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.33sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.33sINFOcontroller_serverOptimizer reset ×2 + 15.35sINFOcontroller_serverController Server has FollowPath controllers available. + 15.38sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.38sINFOsmoother_serverConfiguring smoother server + 15.39sINFOvideo_server2026/08/26 00:50:04 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.39sINFOvideo_server2026/08/26 00:50:04 INF configuration loaded from /tmp/moveit-webrtc-4iu070rm/mediamtx.yml ×2 + 15.39sINFOvideo_server2026/08/26 00:50:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.39sINFOvideo_server2026/08/26 00:50:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.40sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.41sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.42sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.42sINFOplanner_serverConfiguring + 15.42sINFOglobal_costmap.global_costmapConfiguring + 15.43sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.44sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.44sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.44sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.45sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.48sINFOamclParticle filter initialization completed + 15.48sINFOamclInitializing particles from estimated pose and covariance + 15.48sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 15.49sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.49sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.49sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.49sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.49sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.49sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.54sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.54sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.54sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.55sINFOplanner_serverPlanner Server has GridBased planners available. + 15.57sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.57sINFObehavior_serverConfiguring + 15.57sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.58sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.59sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.59sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.59sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.60sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.61sINFObehavior_serverConfiguring spin + 15.62sINFObehavior_serverConfiguring backup + 15.63sINFObehavior_serverConfiguring drive_on_heading + 15.64sINFObehavior_serverConfiguring assisted_teleop + 15.66sINFObehavior_serverConfiguring wait + 15.67sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.67sINFObt_navigatorConfiguring + 15.68sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.70sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616900 ms (missed cycles : 6). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616900 ms (missed cycles : 6).[0m ×2 + 16.01sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.17sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.17sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.17sINFOwaypoint_followerConfiguring + 16.17sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.17sWARNmove_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. + 16.17sWARNmove_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. + 16.18sWARNmove_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. + 16.18sWARNmove_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. + 16.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.19sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.20sWARNmove_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 + 16.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.20sWARNmove_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 + 16.20sWARNmove_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 + 16.20sWARNmove_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. + 16.20sWARNmove_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. + 16.21sWARNmove_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 + 16.21sWARNmove_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 + 16.21sWARNmove_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 + 16.21sWARNmove_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 + 16.21sWARNmove_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 + 16.22sWARNmove_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 + 16.22sWARNmove_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 + 16.23sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.26sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.26sINFOvelocity_smootherConfiguring velocity smoother + 16.26sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.26sINFOcontroller_serverActivating + 16.26sINFOlocal_costmap.local_costmapActivating + 16.26sINFOlocal_costmap.local_costmapChecking transform + 16.26sINFOlocal_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 ×14 + 16.30sINFOwaypoint_manager_nodeLoaded robot model in 0.470423 seconds[0m ×2 + 16.31sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.31sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. + 16.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 + 16.65sINFOmove_group[2026-08-26 00:50:05.881] [moveit_pro_license] [info] ×2 + 16.65sINFOmove_group************************************************* ×4 + 16.65sINFOmove_group* MoveIt Pro License ×2 + 16.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.78sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.78sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.85sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.85sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.86sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.86sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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 + 16.91sWARNwaypoint_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 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212561 ms (missed cycles : 4). + 16.93sWARNwaypoint_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. + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212561 ms (missed cycles : 4).[0m ×2 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 17.32sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.32sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.32sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.32sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.33sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.33sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.34sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.34sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.34sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.35sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.35sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.35sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.36sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.36sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.36sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.36sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.36sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.37sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.37sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.37sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.37sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.37sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.38sINFOwaypoint_manager_node[2026-08-26 00:50:06.612] [moveit_pro_license] [info] ×2 + 17.38sINFOwaypoint_manager_node************************************************* ×4 + 17.38sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.88sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.88sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.89sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 18.00sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 18.00sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 18.00sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 18.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 18.00sWARNros2_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 + 18.00sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 18.00sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 18.00sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 18.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 18.00sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 18.00sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 18.00sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 18.00sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 18.00sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 18.00sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 18.00sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 18.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 18.00sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 18.00sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 18.00sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 18.00sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 18.00sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 18.00sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 18.00sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 18.00sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 18.00sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 18.00sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 18.00sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 18.00sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 18.01sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 18.01sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 18.01sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 18.01sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 18.01sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 18.01sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 18.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 18.01sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 18.03sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.03sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.03sWARNros2_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 + 18.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170461 ms (missed cycles : 2). + 18.04sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170461 ms (missed cycles : 2).[0m ×2 + 18.05sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 18.05sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 18.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.09sINFOplatform_velocity_controllerconfigure successful + 18.09sINFOros2_control_nodeconfigure successful[0m ×6 + 18.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.09sINFOcontroller_managerSuccessfully switched controllers! ×19 + 18.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 18.10sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.10sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.21sINFOobjective_server_node[2026-08-26 00:50:07.434] [moveit_pro_license] [info] ×2 + 18.21sINFOobjective_server_node************************************************* ×4 + 18.21sINFOobjective_server_node* MoveIt Pro License ×2 + 18.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.30sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.31sINFOobjective_server_nodeLoaded robot model in 0.027903 seconds[0m ×2 + 18.31sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.31sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.51sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.51sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.51sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.51sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.54sINFOros2-16process has finished cleanly [pid 9623] ×2 + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.63sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.63sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.63sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.63sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.63sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.63sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.63sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.63sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 18.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 18.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.75sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.75sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.77sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.87sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.89sINFOstreaming_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) + 18.90sINFOcomponent_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 + 18.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.92sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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. + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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. + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.93sWARNobjective_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 + 18.95sWARNcomponent_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 + 19.01sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 19.01sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.03sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.03sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824129 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824129 ms (missed cycles : 2).[0m ×2 + 19.24sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787705407.352 for reason 'discarding message because the queue is full' + 19.25sWARNstate_estimatorOptimization exceeded the configured duration by 83234655ns + 19.30sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.33sINFOros2_control_node[2026-08-26 00:50:08.558] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.33sINFOros2_control_node[2026-08-26 00:50:08.561] [info] Controller state will be published at 10 Hz. ×2 + 19.34sINFOros2_control_node[2026-08-26 00:50:08.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.40sINFOcomponent_container_mtLoaded robot model in 0.4511 seconds[0m ×2 + 19.40sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.40sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 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 + 19.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.71sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.71sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.71sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.71sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.72sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 19.72sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 19.74sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.75sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.76sINFOmove_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 ****************************************************** + 19.76sINFOmove_group ×8 + 19.76sINFOmove_group****************************************************** ×4 + 19.76sINFOmove_group* MoveGroup using: ×2 + 19.76sINFOmove_group* - apply_planning_scene_service ×2 + 19.76sINFOmove_group* - clear_octomap_service ×2 + 19.76sINFOmove_group* - get_group_urdf ×2 + 19.76sINFOmove_group* - load_geometry_from_file ×2 + 19.76sINFOmove_group* - get_planning_scene_service ×2 + 19.76sINFOmove_group* - kinematics_service ×2 + 19.76sINFOmove_group* - save_geometry_to_file ×2 + 19.76sINFOmove_group* - GetPlanningGroups ×2 + 19.76sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.76sINFOmove_group[0m ×2 + 19.76sINFOmove_group[92mYou can start planning now![0m ×2 + 19.79sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.79sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.79sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.79sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.79sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.80sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.81sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.83sINFOros2-21process has finished cleanly [pid 9633] ×2 + 19.94sWARNplanning_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. + 19.94sWARNplanning_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. + 19.94sWARNplanning_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. + 19.94sWARNplanning_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. + 19.94sWARNplanning_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. + 19.94sWARNcomponent_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 + 19.94sWARNplanning_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. + 19.94sWARNcomponent_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 + 19.94sWARNcomponent_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 + 19.94sWARNplanning_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. + 19.94sWARNcomponent_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 + 19.94sWARNplanning_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. + 19.94sWARNcomponent_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 + 19.94sWARNcomponent_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 + 19.94sWARNcomponent_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 + 19.94sWARNcomponent_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 + 19.94sWARNplanning_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. + 19.94sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNcomponent_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 + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNcomponent_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 + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.95sWARNplanning_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. + 19.96sWARNcomponent_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 + 19.96sWARNplanning_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. + 19.96sWARNcomponent_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 + 19.96sWARNplanning_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. + 19.96sWARNcomponent_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 + 19.96sWARNcomponent_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 + 19.96sWARNplanning_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. + 19.96sWARNplanning_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. + 19.96sWARNcomponent_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 + 19.96sWARNcomponent_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 + 19.96sWARNcomponent_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 + 19.96sWARNcomponent_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 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045254 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045254 ms (missed cycles : 2).[0m ×2 + 20.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 20.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 20.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.23sINFOros2-17process has finished cleanly [pid 9626] ×2 + 20.25sWARNros2_control_nodeCamera render tick took 0.72 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.28sINFOcomponent_container_mt[2026-08-26 00:50:09.508] [moveit_pro_license] [info] ×2 + 20.28sINFOcomponent_container_mt************************************************* ×4 + 20.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 20.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 20.65sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.65sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.73sINFOros2_control_node[2026-08-26 00:50:09.955] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.73sINFOros2_control_node[2026-08-26 00:50:09.957] [info] Controller state will be published at 10 Hz. ×2 + 20.73sINFOros2_control_node[2026-08-26 00:50:09.958] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 21.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821894 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821894 ms (missed cycles : 3).[0m ×2 + 21.15sINFOros2-20process has finished cleanly [pid 9630] ×2 + 21.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 21.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 21.27sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.27sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.27sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.28sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.36sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 21.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.74sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787705409.852 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.78sINFOros2_control_node[2026-08-26 00:50:11.011] [info] Controller state will be published at 20 Hz. ×2 + 21.79sINFOros2_control_node[2026-08-26 00:50:11.012] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 22.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779140 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779140 ms (missed cycles : 2).[0m ×2 + 22.21sINFOros2-23process has finished cleanly [pid 9637] ×2 + 22.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.28sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 22.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 22.70sINFOros2-19process has finished cleanly [pid 9629] ×2 + 22.74sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 22.74sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.74sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.74sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.74sINFOforce_torque_sensor_broadcasterconfigure successful + 22.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.76sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 22.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 23.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 23.10sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 23.10sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 23.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 23.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 23.14sINFOros2-13process has finished cleanly [pid 9620] ×2 + 23.17sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 23.17sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 23.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 23.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 23.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 23.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251147 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251147 ms (missed cycles : 2).[0m ×2 + 23.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 23.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 23.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 23.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 23.26sINFOlocal_costmap.local_costmapstart + 23.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.759ms + 23.37sWARNcontroller_serverParameter controller_server.verbose not found + 23.37sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 23.37sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 23.48sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 23.48sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 23.48sINFOsmoother_serverActivating + 23.48sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 23.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 23.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 23.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 23.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 23.58sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 23.58sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 23.58sINFOplanner_serverActivating + 23.58sINFOglobal_costmap.global_costmapActivating + 23.58sINFOglobal_costmap.global_costmapChecking transform + 23.58sINFOglobal_costmap.global_costmapstart + 23.59sINFOros2-15process has finished cleanly [pid 9622] ×2 + 23.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 23.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 23.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 23.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 24.13sINFOros2_control_node[2026-08-26 00:50:13.356] [info] Controller state will be published at 20 Hz. ×2 + 24.13sINFOros2_control_node[2026-08-26 00:50:13.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054303 ms (missed cycles : 4). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054303 ms (missed cycles : 4).[0m ×2 + 24.51sINFOros2-22process has finished cleanly [pid 9636] ×2 + 24.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 24.52sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 24.52sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 24.52sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 24.52sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 24.52sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 24.61sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 24.61sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 24.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 24.61sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 24.61sINFOplatform_velocity_controller_nav2configure successful + 24.64sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 24.64sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 24.74sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 24.74sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 24.74sINFObehavior_serverActivating + 24.74sINFObehavior_serverActivating spin + 24.74sINFObehavior_serverActivating backup + 24.74sINFObehavior_serverActivating drive_on_heading + 24.74sINFObehavior_serverActivating assisted_teleop + 24.74sINFObehavior_serverActivating wait + 24.74sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 24.85sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 24.85sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 24.85sINFObt_navigatorActivating + 24.96sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 25.01sINFOros2-18process has finished cleanly [pid 9628] ×2 + 25.07sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 25.07sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 25.07sINFOwaypoint_followerActivating + 25.07sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 25.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 25.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 25.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 25.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 25.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx + 25.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_620l2tq3 --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_gyy91nba --params-file /tmp/launch_params_3qiyyfnx [0m ×2 + 25.14sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 25.14sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 25.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 25.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 25.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 25.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 25.15sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 25.15sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 25.17sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 25.17sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 25.17sINFOvelocity_smootherActivating + 25.17sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 25.28sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 25.28sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 25.28sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209989 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209989 ms (missed cycles : 2).[0m ×2 + 25.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 25.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 25.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.53sINFOros2-14process has finished cleanly [pid 9621] ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 28.04sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 30.41sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 30.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.64sINFOmove_groupClearing octomap...[0m ×2 + 30.64sINFOmove_groupOctomap cleared.[0m ×2 + 30.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 31.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 31.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 32.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.64sINFOobjective_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 + 32.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2

▾/__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	76.2s	3 errors · 361 warnings · 371 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.325ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958187 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958187 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.094ms + 1.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133048 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133048 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.830ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648611 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648611 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 3.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.28sINFOobjective_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 + 4.29sINFOjoint_trajectory_controllerGot request to cancel goal + 4.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 4.33sERRORobjective_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: 1787705633.31023788 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-10.37, 42.56) is out of map bounds (-12.40, 36.95) to (-7.43, 41.92). The costmap cannot raytrace for it. + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-11.26, 42.42) is out of map bounds (-12.40, 36.95) to (-7.43, 41.92). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.198ms + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.784ms + 4.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787705633.90069509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636728 ms (missed cycles : 4). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636728 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 5.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.0 s (AMCL untrusted, spread=1.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.0 s (AMCL untrusted, spread=1.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691259 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691259 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165068 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165068 ms (missed cycles : 2).[0m ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.47sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.47sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.47sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.47sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.63sWARNstate_estimatorOptimization exceeded the configured duration by 2033592ns + 7.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.0 s (AMCL untrusted, spread=1.67); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.0 s (AMCL untrusted, spread=1.67); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047689 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047689 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.618ms + 9.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.398ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679435 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679435 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.857ms + 9.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.0 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.0 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.384ms + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.782ms + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.530ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425893 ms (missed cycles : 4). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425893 ms (missed cycles : 4).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.384ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.255ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.874ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300229 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300229 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms ×2 + 11.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.2 s (AMCL untrusted, spread=1.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.2 s (AMCL untrusted, spread=1.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783116 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783116 ms (missed cycles : 4).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384781 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384781 ms (missed cycles : 3).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.686ms + 13.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.2 s (AMCL untrusted, spread=1.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.2 s (AMCL untrusted, spread=1.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.084ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588497 ms (missed cycles : 4). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588497 ms (missed cycles : 4).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.727ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797612 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797612 ms (missed cycles : 2).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.446ms ×2 + 15.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637438 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637438 ms (missed cycles : 3).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.368ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.999834 ms (missed cycles : 6). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.999834 ms (missed cycles : 6).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 17.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.2 s (AMCL untrusted, spread=0.87); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.2 s (AMCL untrusted, spread=0.87); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.960ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 18.43sWARNstate_estimatorOptimization exceeded the configured duration by 3431042ns + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.957ms + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162761 ms (missed cycles : 4). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162761 ms (missed cycles : 4).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.002ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587765 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587765 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 19.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.2 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.2 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.032ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703515 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703515 ms (missed cycles : 4).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.442ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.984ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852532 ms (missed cycles : 3). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852532 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 22.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596845 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596845 ms (missed cycles : 4).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.005ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018463 ms (missed cycles : 4). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018463 ms (missed cycles : 4).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 24.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.455ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827572 ms (missed cycles : 2). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827572 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.155ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312187 ms (missed cycles : 2). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312187 ms (missed cycles : 2).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.086ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 26.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.8 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.407ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978140 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978140 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.097ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.371ms + 28.30sINFOros2_control_nodeMuJoCo sim: 12.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283337 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283337 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 28.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 140.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.643ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 29.34sWARNstate_estimatorOptimization exceeded the configured duration by 20294801ns + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109395 ms (missed cycles : 3). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109395 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.340ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.264ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.452ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.879ms + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958987 ms (missed cycles : 5). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958987 ms (missed cycles : 5).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 30.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.572ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.782ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305534 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305534 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.230ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.217ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974676 ms (missed cycles : 4). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974676 ms (missed cycles : 4).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.820ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.662ms + 32.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.507ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.342ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.464ms + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.128ms ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992761 ms (missed cycles : 4). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992761 ms (missed cycles : 4).[0m ×2 + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 34.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496481 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496481 ms (missed cycles : 2).[0m ×2 + 35.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725460 ms (missed cycles : 2). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725460 ms (missed cycles : 2).[0m ×2 + 36.32sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 36.33sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.74sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 37.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658710 ms (missed cycles : 5). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658710 ms (missed cycles : 5).[0m ×2 + 37.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 37.62sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279239 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279239 ms (missed cycles : 3).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078846 ms (missed cycles : 4). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078846 ms (missed cycles : 4).[0m ×2 + 39.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 39.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.43sWARNstate_estimatorOptimization exceeded the configured duration by 5832652ns + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.860ms + 40.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.442ms + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.941ms + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576575 ms (missed cycles : 4). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576575 ms (missed cycles : 4).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.524ms + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.056ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 41.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716250 ms (missed cycles : 5). + 41.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716250 ms (missed cycles : 5).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.363ms + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.985ms + 42.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.366ms + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015404 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015404 ms (missed cycles : 2).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms ×3 + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 42.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.548ms + 43.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113251 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113251 ms (missed cycles : 3).[0m ×2 + 43.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 155.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.401ms + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328597 ms (missed cycles : 4). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328597 ms (missed cycles : 4).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.057ms + 45.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 157.8 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421331 ms (missed cycles : 2). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421331 ms (missed cycles : 2).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.914ms + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452274 ms (missed cycles : 4). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452274 ms (missed cycles : 4).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.549ms + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.500ms + 47.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.0 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.0 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880939 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880939 ms (missed cycles : 2).[0m ×2 + 47.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.348ms + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.943ms + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466875 ms (missed cycles : 5). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466875 ms (missed cycles : 5).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.250ms + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.592ms + 49.54sWARNstate_estimatorOptimization exceeded the configured duration by 11939488ns + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.049ms + 49.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491216 ms (missed cycles : 3). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491216 ms (missed cycles : 3).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.848ms + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443036 ms (missed cycles : 4). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443036 ms (missed cycles : 4).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.021ms + 51.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.2 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.2 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954079 ms (missed cycles : 3). + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954079 ms (missed cycles : 3).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.312ms + 53.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124760 ms (missed cycles : 3). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124760 ms (missed cycles : 3).[0m ×2 + 53.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.97sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250843 ms (missed cycles : 3). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250843 ms (missed cycles : 3).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277466 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277466 ms (missed cycles : 2).[0m ×2 + 56.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095253 ms (missed cycles : 2). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095253 ms (missed cycles : 2).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 57.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926507 ms (missed cycles : 5). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926507 ms (missed cycles : 5).[0m ×2 + 58.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.4 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.108ms + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796963 ms (missed cycles : 3). + 58.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796963 ms (missed cycles : 3).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.753ms + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890410 ms (missed cycles : 4). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890410 ms (missed cycles : 4).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.430ms + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.353ms + 59.84sWARNstate_estimatorOptimization exceeded the configured duration by 14167968ns + 60.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 60.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377753 ms (missed cycles : 2). + 60.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377753 ms (missed cycles : 2).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 61.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304008 ms (missed cycles : 3). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304008 ms (missed cycles : 3).[0m ×2 + 61.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.964ms + 62.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.166ms + 62.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.077ms + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986871 ms (missed cycles : 2). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986871 ms (missed cycles : 2).[0m ×2 + 62.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 63.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.118ms + 63.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.532098 ms (missed cycles : 4). + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.532098 ms (missed cycles : 4).[0m ×2 + 63.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.078ms + 64.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.426ms + 64.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695001 ms (missed cycles : 4). + 64.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695001 ms (missed cycles : 4).[0m ×2 + 64.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 64.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks. + 64.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 65.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.999ms + 65.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 65.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134808 ms (missed cycles : 3). + 65.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134808 ms (missed cycles : 3).[0m ×2 + 66.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 66.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 66.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412775 ms (missed cycles : 4). + 66.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412775 ms (missed cycles : 4).[0m ×2 + 66.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 66.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 67.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905112 ms (missed cycles : 4). + 67.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905112 ms (missed cycles : 4).[0m ×2 + 68.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 68.43sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 68.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008285 ms (missed cycles : 4). + 68.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008285 ms (missed cycles : 4).[0m ×2 + 68.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 68.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 69.94sWARNstate_estimatorOptimization exceeded the configured duration by 118849557ns + 69.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803562 ms (missed cycles : 3). + 69.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803562 ms (missed cycles : 3).[0m ×2 + 70.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 70.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 71.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329286 ms (missed cycles : 3). + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329286 ms (missed cycles : 3).[0m ×2 + 71.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.530ms + 71.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 72.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258032 ms (missed cycles : 4). + 72.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258032 ms (missed cycles : 4).[0m ×2 + 72.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 72.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.379ms + 73.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 73.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 73.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 73.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254678 ms (missed cycles : 3). + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254678 ms (missed cycles : 3).[0m ×2 + 73.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.378ms + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.330ms + 74.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 74.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495641 ms (missed cycles : 2). + 74.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495641 ms (missed cycles : 2).[0m ×2 + 74.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.375ms + 75.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 75.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 75.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 75.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846706 ms (missed cycles : 3). + 75.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846706 ms (missed cycles : 3).[0m ×2 + 75.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 76.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.179ms + 76.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595368 ms (missed cycles : 3). + 76.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595368 ms (missed cycles : 3).[0m ×2 + 76.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 76.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 77.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 77.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 77.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641901 ms (missed cycles : 4). + 77.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641901 ms (missed cycles : 4).[0m ×2 + 77.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 77.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 77.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 77.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.503ms + 78.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.761ms + 78.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.555ms + 78.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775486 ms (missed cycles : 3). + 78.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775486 ms (missed cycles : 3).[0m ×2 + 78.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.662ms + 79.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.329ms + 79.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679122 ms (missed cycles : 3). + 79.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679122 ms (missed cycles : 3).[0m ×2 + 79.74sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 79.75sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 80.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.127ms + 80.25sWARNstate_estimatorOptimization exceeded the configured duration by 22270536ns + 80.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705709.46087360 seconds ×3 + 80.60sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 4.455ms + 80.70sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.177ms + 80.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265738 ms (missed cycles : 2). + 80.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265738 ms (missed cycles : 2).[0m ×2 + 80.90sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.336ms + 81.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.312ms + 81.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705710.05472136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 81.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.043ms + 81.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736061 ms (missed cycles : 4). + 81.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736061 ms (missed cycles : 4).[0m ×2 + 81.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 81.94sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 82.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 82.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	58.3s	369 warnings · 254 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2 + 7.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.4 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 202.4 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876307 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876307 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.87sWARNstate_estimatorOptimization exceeded the configured duration by 236824ns + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343745 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343745 ms (missed cycles : 4).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.625ms + 9.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.925ms + 9.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.4 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 204.4 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776518 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776518 ms (missed cycles : 3).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.672ms + 10.04sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.720ms + 10.34sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.600ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689535 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689535 ms (missed cycles : 3).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.690ms + 10.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.718ms + 11.15sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 5.502ms + 11.34sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.990ms + 11.54sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 3.577ms + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.6 s (AMCL untrusted, spread=8.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 206.6 s (AMCL untrusted, spread=8.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096323 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096323 ms (missed cycles : 3).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 11.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 12.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 13.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.989ms + 13.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.994ms + 13.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.921ms + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 208.6 s (AMCL untrusted, spread=13.91); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 208.6 s (AMCL untrusted, spread=13.91); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113431 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113431 ms (missed cycles : 2).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.973ms + 14.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.420ms + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676523 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676523 ms (missed cycles : 2).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.987ms + 15.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.768ms + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms ×2 + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 210.8 s (AMCL untrusted, spread=2.82); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 210.8 s (AMCL untrusted, spread=2.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607884 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607884 ms (missed cycles : 3).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851185 ms (missed cycles : 5). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851185 ms (missed cycles : 5).[0m ×2 + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 212.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 212.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 17.87sWARNstate_estimatorOptimization exceeded the configured duration by 5497923ns + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922773 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922773 ms (missed cycles : 3).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.086ms + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.884ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886532 ms (missed cycles : 4). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886532 ms (missed cycles : 4).[0m ×2 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.031ms + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514844 ms (missed cycles : 3). + 19.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514844 ms (missed cycles : 3).[0m ×2 + 19.99sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 215.0 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808437 ms (missed cycles : 4). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808437 ms (missed cycles : 4).[0m ×2 + 21.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.938ms + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333728 ms (missed cycles : 3). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333728 ms (missed cycles : 3).[0m ×2 + 22.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 217.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 217.2 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.900ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204198 ms (missed cycles : 4). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204198 ms (missed cycles : 4).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.771ms + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 24.08sWARNglobal_costmap.global_costmapSensor origin at (18.95, 58.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.08sWARNglobal_costmap.global_costmapSensor origin at (18.07, 59.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927751 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927751 ms (missed cycles : 2).[0m ×2 + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.029ms + 24.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 219.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 219.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.371ms + 25.08sWARNglobal_costmap.global_costmapSensor origin at (18.97, 59.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.08sWARNglobal_costmap.global_costmapSensor origin at (18.09, 59.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020564 ms (missed cycles : 4). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020564 ms (missed cycles : 4).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.645ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 26.08sWARNglobal_costmap.global_costmapSensor origin at (19.00, 60.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.08sWARNglobal_costmap.global_costmapSensor origin at (18.11, 60.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340877 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340877 ms (missed cycles : 2).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 26.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 221.4 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 221.4 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.688ms + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.146ms + 27.08sWARNglobal_costmap.global_costmapSensor origin at (19.01, 60.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.08sWARNglobal_costmap.global_costmapSensor origin at (18.13, 60.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757886 ms (missed cycles : 3). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757886 ms (missed cycles : 3).[0m ×2 + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms ×2 + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.869ms + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 28.08sWARNglobal_costmap.global_costmapSensor origin at (19.03, 61.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.08sWARNglobal_costmap.global_costmapSensor origin at (18.15, 61.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.823ms + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541498 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541498 ms (missed cycles : 4).[0m ×2 + 28.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 223.4 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 223.4 s (AMCL untrusted, spread=0.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 28.67sWARNstate_estimatorOptimization exceeded the configured duration by 7123608ns + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 29.08sWARNglobal_costmap.global_costmapSensor origin at (19.05, 61.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.08sWARNglobal_costmap.global_costmapSensor origin at (18.17, 61.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095099 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095099 ms (missed cycles : 3).[0m ×2 + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.147ms + 30.08sWARNglobal_costmap.global_costmapSensor origin at (19.08, 62.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.08sWARNglobal_costmap.global_costmapSensor origin at (18.20, 62.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.604ms + 30.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 225.4 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 225.4 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066399 ms (missed cycles : 4). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066399 ms (missed cycles : 4).[0m ×2 + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.580ms + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.586ms + 31.08sWARNglobal_costmap.global_costmapSensor origin at (19.09, 62.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.08sWARNglobal_costmap.global_costmapSensor origin at (18.21, 63.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.835ms + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.908ms + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684684 ms (missed cycles : 4). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684684 ms (missed cycles : 4).[0m ×2 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.760ms + 32.08sWARNglobal_costmap.global_costmapSensor origin at (19.12, 63.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.08sWARNglobal_costmap.global_costmapSensor origin at (18.24, 63.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 32.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 227.6 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 227.6 s (AMCL untrusted, spread=0.71); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089248 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089248 ms (missed cycles : 2).[0m ×2 + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.529ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.266ms + 33.08sWARNglobal_costmap.global_costmapSensor origin at (19.14, 63.99) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.08sWARNglobal_costmap.global_costmapSensor origin at (18.26, 64.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms ×2 + 33.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086092 ms (missed cycles : 4). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086092 ms (missed cycles : 4).[0m ×2 + 33.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.617ms + 34.08sWARNglobal_costmap.global_costmapSensor origin at (19.16, 64.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.08sWARNglobal_costmap.global_costmapSensor origin at (18.28, 64.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 34.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.450ms + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075339 ms (missed cycles : 3). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075339 ms (missed cycles : 3).[0m ×2 + 34.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.616ms + 34.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 229.8 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 229.8 s (AMCL untrusted, spread=0.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.08sWARNglobal_costmap.global_costmapSensor origin at (19.16, 64.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.08sWARNglobal_costmap.global_costmapSensor origin at (18.29, 65.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.765ms + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688876 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688876 ms (missed cycles : 2).[0m ×2 + 35.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.281ms + 36.08sWARNglobal_costmap.global_costmapSensor origin at (19.17, 65.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.08sWARNglobal_costmap.global_costmapSensor origin at (18.30, 65.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451192 ms (missed cycles : 4). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451192 ms (missed cycles : 4).[0m ×2 + 36.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.0 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 232.0 s (AMCL untrusted, spread=0.69); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.793ms + 37.08sWARNglobal_costmap.global_costmapSensor origin at (19.17, 65.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.08sWARNglobal_costmap.global_costmapSensor origin at (18.30, 65.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993206 ms (missed cycles : 4). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993206 ms (missed cycles : 4).[0m ×2 + 38.08sWARNglobal_costmap.global_costmapSensor origin at (19.11, 65.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.08sWARNglobal_costmap.global_costmapSensor origin at (18.24, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.727ms + 38.70sWARNstate_estimatorOptimization exceeded the configured duration by 35205094ns + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407791 ms (missed cycles : 3). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407791 ms (missed cycles : 3).[0m ×2 + 38.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.0 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 234.0 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 39.08sWARNglobal_costmap.global_costmapSensor origin at (18.99, 65.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.08sWARNglobal_costmap.global_costmapSensor origin at (18.12, 65.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.08sWARNglobal_costmap.global_costmapSensor origin at (19.04, 65.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.08sWARNglobal_costmap.global_costmapSensor origin at (18.17, 65.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951377 ms (missed cycles : 2). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951377 ms (missed cycles : 2).[0m ×2 + 40.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 40.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 236.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 236.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.08sWARNglobal_costmap.global_costmapSensor origin at (25.01, 60.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.08sWARNglobal_costmap.global_costmapSensor origin at (24.26, 61.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828152 ms (missed cycles : 3). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828152 ms (missed cycles : 3).[0m ×2 + 42.08sWARNglobal_costmap.global_costmapSensor origin at (26.73, 57.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.08sWARNglobal_costmap.global_costmapSensor origin at (26.04, 57.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742293 ms (missed cycles : 4). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742293 ms (missed cycles : 4).[0m ×2 + 42.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.125ms + 43.08sWARNglobal_costmap.global_costmapSensor origin at (28.20, 42.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.08sWARNglobal_costmap.global_costmapSensor origin at (27.68, 43.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 238.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 238.2 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657211 ms (missed cycles : 3). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657211 ms (missed cycles : 3).[0m ×2 + 44.08sWARNglobal_costmap.global_costmapSensor origin at (28.43, 42.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.08sWARNglobal_costmap.global_costmapSensor origin at (27.82, 43.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.764ms + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013619 ms (missed cycles : 4). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013619 ms (missed cycles : 4).[0m ×2 + 45.08sWARNglobal_costmap.global_costmapSensor origin at (28.50, 42.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.08sWARNglobal_costmap.global_costmapSensor origin at (27.89, 43.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 240.4 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 240.4 s (AMCL untrusted, spread=0.56); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014260 ms (missed cycles : 4). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014260 ms (missed cycles : 4).[0m ×2 + 46.08sWARNglobal_costmap.global_costmapSensor origin at (28.47, 42.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.08sWARNglobal_costmap.global_costmapSensor origin at (27.90, 43.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.421ms + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095208 ms (missed cycles : 5). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095208 ms (missed cycles : 5).[0m ×2 + 46.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.890ms + 47.08sWARNglobal_costmap.global_costmapSensor origin at (28.28, 42.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.08sWARNglobal_costmap.global_costmapSensor origin at (27.84, 43.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 242.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 242.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213355 ms (missed cycles : 3). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213355 ms (missed cycles : 3).[0m ×2 + 48.08sWARNglobal_costmap.global_costmapSensor origin at (28.21, 42.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.08sWARNglobal_costmap.global_costmapSensor origin at (27.80, 43.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.235ms + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010356 ms (missed cycles : 2). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010356 ms (missed cycles : 2).[0m ×2 + 48.78sWARNstate_estimatorOptimization exceeded the configured duration by 16986019ns + 49.08sWARNglobal_costmap.global_costmapSensor origin at (28.24, 42.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.08sWARNglobal_costmap.global_costmapSensor origin at (27.82, 43.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 244.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 244.4 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799554 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799554 ms (missed cycles : 2).[0m ×2 + 50.08sWARNglobal_costmap.global_costmapSensor origin at (28.41, 42.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.08sWARNglobal_costmap.global_costmapSensor origin at (27.87, 43.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms ×2 + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875140 ms (missed cycles : 4). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875140 ms (missed cycles : 4).[0m ×2 + 51.08sWARNglobal_costmap.global_costmapSensor origin at (28.55, 42.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.08sWARNglobal_costmap.global_costmapSensor origin at (27.95, 43.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.346ms + 51.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 246.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 246.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.018598 ms (missed cycles : 5). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.018598 ms (missed cycles : 5).[0m ×2 + 52.08sWARNglobal_costmap.global_costmapSensor origin at (28.61, 42.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.08sWARNglobal_costmap.global_costmapSensor origin at (28.02, 43.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 52.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458560 ms (missed cycles : 5). + 52.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458560 ms (missed cycles : 5).[0m ×2 + 53.08sWARNglobal_costmap.global_costmapSensor origin at (28.54, 42.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.420ms + 53.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 248.6 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 248.6 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151961 ms (missed cycles : 2). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151961 ms (missed cycles : 2).[0m ×2 + 54.08sWARNglobal_costmap.global_costmapSensor origin at (28.34, 42.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.08sWARNglobal_costmap.global_costmapSensor origin at (27.94, 43.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756981 ms (missed cycles : 2). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756981 ms (missed cycles : 2).[0m ×2 + 55.08sWARNglobal_costmap.global_costmapSensor origin at (28.30, 42.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.08sWARNglobal_costmap.global_costmapSensor origin at (27.93, 42.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 55.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 250.6 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 250.6 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963296 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963296 ms (missed cycles : 3).[0m ×2 + 56.08sWARNglobal_costmap.global_costmapSensor origin at (28.33, 42.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.08sWARNglobal_costmap.global_costmapSensor origin at (27.94, 42.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.738ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796630 ms (missed cycles : 2). + 56.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796630 ms (missed cycles : 2).[0m ×2 + 57.08sWARNglobal_costmap.global_costmapSensor origin at (28.48, 42.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.08sWARNglobal_costmap.global_costmapSensor origin at (27.96, 42.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 252.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 252.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384516 ms (missed cycles : 4). + 57.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384516 ms (missed cycles : 4).[0m ×2 + 58.08sWARNglobal_costmap.global_costmapSensor origin at (28.66, 42.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.08sWARNglobal_costmap.global_costmapSensor origin at (28.06, 42.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.473ms + 59.08sWARNglobal_costmap.global_costmapSensor origin at (28.74, 42.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.08sWARNglobal_costmap.global_costmapSensor origin at (28.16, 42.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359811 ms (missed cycles : 3). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359811 ms (missed cycles : 3).[0m ×2 + 59.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.089ms + 59.49sWARNstate_estimatorOptimization exceeded the configured duration by 26523625ns + 59.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 254.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 254.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.08sWARNglobal_costmap.global_costmapSensor origin at (28.80, 42.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.08sWARNglobal_costmap.global_costmapSensor origin at (28.22, 42.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356374 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356374 ms (missed cycles : 3).[0m ×2 + 60.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.309ms + 61.08sWARNglobal_costmap.global_costmapSensor origin at (28.71, 42.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.08sWARNglobal_costmap.global_costmapSensor origin at (28.21, 42.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427608 ms (missed cycles : 3). + 61.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427608 ms (missed cycles : 3).[0m ×2 + 61.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.890ms + 61.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 257.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 257.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 62.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.963ms + 62.08sWARNglobal_costmap.global_costmapSensor origin at (28.48, 41.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.08sWARNglobal_costmap.global_costmapSensor origin at (28.11, 42.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381527 ms (missed cycles : 3). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381527 ms (missed cycles : 3).[0m ×2 + 62.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705774.26958227 seconds ×3 + 62.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 63.08sWARNglobal_costmap.global_costmapSensor origin at (28.44, 41.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 63.08sWARNglobal_costmap.global_costmapSensor origin at (28.05, 42.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705774.86157608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902632 ms (missed cycles : 3). + 63.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902632 ms (missed cycles : 3).[0m ×2 + 63.56sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 63.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 259.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 259.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 64.08sWARNglobal_costmap.global_costmapSensor origin at (28.05, 42.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 64.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979735 ms (missed cycles : 2). + 64.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979735 ms (missed cycles : 2).[0m ×2 + 65.08sWARNglobal_costmap.global_costmapSensor origin at (28.06, 42.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	214 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 0.82sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.82sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 2.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.55sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.55sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.55sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.55sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705468.63516426 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705469.22015619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 6.14sWARNstate_estimatorOptimization exceeded the configured duration by 118717092ns + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349722 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349722 ms (missed cycles : 4).[0m ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817432 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817432 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754556 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754556 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.827ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973074 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973074 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243591 ms (missed cycles : 4). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243591 ms (missed cycles : 4).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.196ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.611ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.927ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670010 ms (missed cycles : 4). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670010 ms (missed cycles : 4).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.900ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 12.89sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.820ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353221 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353221 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276533 ms (missed cycles : 5). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276533 ms (missed cycles : 5).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947375 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947375 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119331 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119331 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms ×2 + 17.44sWARNstate_estimatorOptimization exceeded the configured duration by 12915279ns + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.141ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018330 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018330 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.091ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591412 ms (missed cycles : 4). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591412 ms (missed cycles : 4).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.119ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902061 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902061 ms (missed cycles : 3).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.905ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008549 ms (missed cycles : 4). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008549 ms (missed cycles : 4).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.015ms ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683051 ms (missed cycles : 5). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683051 ms (missed cycles : 5).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.853ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218232 ms (missed cycles : 3). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218232 ms (missed cycles : 3).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.810ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.909ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.806ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880368 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880368 ms (missed cycles : 2).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.871ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511203 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511203 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215542 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215542 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348784 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348784 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.081ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.407ms + 27.73sWARNstate_estimatorOptimization exceeded the configured duration by 5765638ns + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.341ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484721 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484721 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692669 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692669 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.583ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.086ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994647 ms (missed cycles : 5). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994647 ms (missed cycles : 5).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.619ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.061ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.747ms + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712200 ms (missed cycles : 4). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712200 ms (missed cycles : 4).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.827ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.393ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332034 ms (missed cycles : 5). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332034 ms (missed cycles : 5).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.086ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.067ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.578ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.645ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.401ms + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185991 ms (missed cycles : 4). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185991 ms (missed cycles : 4).[0m ×2 + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.776ms + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619426 ms (missed cycles : 5). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619426 ms (missed cycles : 5).[0m ×2 + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.872ms + 35.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750779 ms (missed cycles : 4). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750779 ms (missed cycles : 4).[0m ×2 + 36.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265400 ms (missed cycles : 4). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265400 ms (missed cycles : 4).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 37.76sWARNstate_estimatorOptimization exceeded the configured duration by 42383535ns + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963450 ms (missed cycles : 3). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963450 ms (missed cycles : 3).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869322 ms (missed cycles : 4). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869322 ms (missed cycles : 4).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.511ms + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325988 ms (missed cycles : 4). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325988 ms (missed cycles : 4).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.609ms + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979424 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979424 ms (missed cycles : 2).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956361 ms (missed cycles : 4). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956361 ms (missed cycles : 4).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.989ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.595ms + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917316 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917316 ms (missed cycles : 3).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252978 ms (missed cycles : 5). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252978 ms (missed cycles : 5).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208613 ms (missed cycles : 3). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208613 ms (missed cycles : 3).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498585 ms (missed cycles : 3). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498585 ms (missed cycles : 3).[0m ×2 + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704025 ms (missed cycles : 4). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704025 ms (missed cycles : 4).[0m ×2 + 47.87sWARNstate_estimatorOptimization exceeded the configured duration by 44449863ns + 47.94sWARNamcl_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. + 47.94sWARNamcl_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 + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376125 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376125 ms (missed cycles : 2).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.488ms + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453477 ms (missed cycles : 4). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453477 ms (missed cycles : 4).[0m ×2 + 50.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 50.14sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231901 ms (missed cycles : 4). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231901 ms (missed cycles : 4).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920873 ms (missed cycles : 3). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920873 ms (missed cycles : 3).[0m ×2 + 52.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.728ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443377 ms (missed cycles : 2). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443377 ms (missed cycles : 2).[0m ×2 + 53.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.889ms + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390797 ms (missed cycles : 4). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390797 ms (missed cycles : 4).[0m ×2 + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.073ms + 54.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122330 ms (missed cycles : 4). + 54.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122330 ms (missed cycles : 4).[0m ×2 + 56.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032577 ms (missed cycles : 4). + 56.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032577 ms (missed cycles : 4).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.945ms + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.760ms + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218740 ms (missed cycles : 5). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218740 ms (missed cycles : 5).[0m ×2 + 57.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.34sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 57.94sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 58.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 59.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 60.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 61.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 61.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 61.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 61.92sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 61.92sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 61.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 62.02sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 62.02sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 62.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 62.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 62.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 62.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.81sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 63.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 63.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.54sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 64.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 64.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.3s	325 warnings · 299 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.063ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms ×2 + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 1.23sWARNstate_estimatorOptimization exceeded the configured duration by 6471344ns + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.372ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.863ms + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.210ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705565.93544698 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.502ms + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-4.91, 20.68) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-5.81, 20.65) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.791ms + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705566.53654671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (8.63e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4).[0m ×2 + 7.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.0 s (AMCL untrusted, spread=7.90); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.0 s (AMCL untrusted, spread=7.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967490 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967490 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598968 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598968 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.213ms + 9.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.0 s (AMCL untrusted, spread=7.92); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.0 s (AMCL untrusted, spread=7.92); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.382ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961380 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961380 ms (missed cycles : 3).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.925ms + 9.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.205ms + 10.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.804ms + 10.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.385ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193967 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193967 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.816ms + 11.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 11.20sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 4.681ms + 11.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.2 s (AMCL untrusted, spread=7.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.2 s (AMCL untrusted, spread=7.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.671ms + 11.43sWARNstate_estimatorOptimization exceeded the configured duration by 5547328ns + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 4.016ms + 11.99sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.851ms + 12.20sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.036ms + 12.40sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.560ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009676 ms (missed cycles : 4). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009676 ms (missed cycles : 4).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.352ms + 13.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=6.96); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=6.96); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.536ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411617 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411617 ms (missed cycles : 4).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.932ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.382ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.631ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.467ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140912 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140912 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.345ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.472ms ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.296ms + 15.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=5.43); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.4 s (AMCL untrusted, spread=5.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924019 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924019 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.670ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407868 ms (missed cycles : 4). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407868 ms (missed cycles : 4).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms ×2 + 17.14sWARNglobal_costmap.global_costmapSensor origin at (25.68, 11.51) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.14sWARNglobal_costmap.global_costmapSensor origin at (25.53, 12.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.000ms + 17.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.4 s (AMCL untrusted, spread=3.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.4 s (AMCL untrusted, spread=3.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.073ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521074 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521074 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 18.14sWARNglobal_costmap.global_costmapSensor origin at (26.20, 11.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.14sWARNglobal_costmap.global_costmapSensor origin at (26.06, 12.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419353 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419353 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 19.14sWARNglobal_costmap.global_costmapSensor origin at (26.72, 11.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.14sWARNglobal_costmap.global_costmapSensor origin at (26.59, 12.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 19.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.4 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.4 s (AMCL untrusted, spread=0.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177462 ms (missed cycles : 4). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177462 ms (missed cycles : 4).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.407ms + 20.14sWARNglobal_costmap.global_costmapSensor origin at (27.24, 12.02) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.14sWARNglobal_costmap.global_costmapSensor origin at (27.09, 12.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.910ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707211 ms (missed cycles : 4). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707211 ms (missed cycles : 4).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 21.14sWARNglobal_costmap.global_costmapSensor origin at (27.77, 12.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.14sWARNglobal_costmap.global_costmapSensor origin at (27.63, 13.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.563ms + 21.63sWARNstate_estimatorOptimization exceeded the configured duration by 7279865ns + 21.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.6 s (AMCL untrusted, spread=0.23); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264532 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264532 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms ×2 + 22.14sWARNglobal_costmap.global_costmapSensor origin at (28.31, 12.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.14sWARNglobal_costmap.global_costmapSensor origin at (28.19, 13.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.777ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836978 ms (missed cycles : 3). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836978 ms (missed cycles : 3).[0m ×2 + 23.14sWARNglobal_costmap.global_costmapSensor origin at (28.83, 12.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.14sWARNglobal_costmap.global_costmapSensor origin at (28.70, 13.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.680ms ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 23.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.8 s (AMCL untrusted, spread=0.22); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166968 ms (missed cycles : 6). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166968 ms (missed cycles : 6).[0m ×2 + 24.14sWARNglobal_costmap.global_costmapSensor origin at (29.35, 12.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.14sWARNglobal_costmap.global_costmapSensor origin at (29.21, 13.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.443ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812400 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812400 ms (missed cycles : 3).[0m ×2 + 25.14sWARNglobal_costmap.global_costmapSensor origin at (29.89, 12.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.14sWARNglobal_costmap.global_costmapSensor origin at (29.75, 13.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.211ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.217ms + 25.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.8 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.8 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.156ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835351 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835351 ms (missed cycles : 3).[0m ×2 + 26.14sWARNglobal_costmap.global_costmapSensor origin at (30.43, 13.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.14sWARNglobal_costmap.global_costmapSensor origin at (30.28, 13.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.312ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.936ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 27.14sWARNglobal_costmap.global_costmapSensor origin at (30.93, 13.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.14sWARNglobal_costmap.global_costmapSensor origin at (30.79, 14.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215123 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215123 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.025ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.294ms + 28.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.14sWARNglobal_costmap.global_costmapSensor origin at (31.48, 13.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.14sWARNglobal_costmap.global_costmapSensor origin at (31.35, 14.31) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975265 ms (missed cycles : 4). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975265 ms (missed cycles : 4).[0m ×2 + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.290ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.389ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.951ms + 29.14sWARNglobal_costmap.global_costmapSensor origin at (32.00, 13.59) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.14sWARNglobal_costmap.global_costmapSensor origin at (31.91, 14.49) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.387ms ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300576 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300576 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.969ms ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.285ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.251ms + 30.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.0 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.383ms + 30.14sWARNglobal_costmap.global_costmapSensor origin at (32.55, 13.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.14sWARNglobal_costmap.global_costmapSensor origin at (32.42, 14.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.177ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951814 ms (missed cycles : 4). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951814 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.497ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.794ms + 31.14sWARNglobal_costmap.global_costmapSensor origin at (33.09, 13.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.14sWARNglobal_costmap.global_costmapSensor origin at (32.94, 14.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.648ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.573ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894254 ms (missed cycles : 4). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894254 ms (missed cycles : 4).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.236ms + 31.73sWARNstate_estimatorOptimization exceeded the configured duration by 6525056ns + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 32.14sWARNglobal_costmap.global_costmapSensor origin at (33.61, 14.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.14sWARNglobal_costmap.global_costmapSensor origin at (33.48, 15.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 77.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.570ms + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547370 ms (missed cycles : 5). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547370 ms (missed cycles : 5).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.873ms + 33.14sWARNglobal_costmap.global_costmapSensor origin at (34.17, 14.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.14sWARNglobal_costmap.global_costmapSensor origin at (34.04, 15.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.076ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.596ms + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306129 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306129 ms (missed cycles : 3).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.114ms + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.287ms + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.205ms + 34.14sWARNglobal_costmap.global_costmapSensor origin at (34.66, 14.46) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.14sWARNglobal_costmap.global_costmapSensor origin at (34.54, 15.36) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.529ms + 34.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.4 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162809 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162809 ms (missed cycles : 2).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.056ms + 35.14sWARNglobal_costmap.global_costmapSensor origin at (35.00, 14.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.14sWARNglobal_costmap.global_costmapSensor origin at (34.89, 15.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359125 ms (missed cycles : 4). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359125 ms (missed cycles : 4).[0m ×2 + 35.60sINFOros2_control_nodeMuJoCo sim: 10.56% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 35.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.321ms + 36.14sWARNglobal_costmap.global_costmapSensor origin at (35.09, 14.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.14sWARNglobal_costmap.global_costmapSensor origin at (35.02, 15.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713105 ms (missed cycles : 2). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713105 ms (missed cycles : 2).[0m ×2 + 36.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 37.14sWARNglobal_costmap.global_costmapSensor origin at (35.19, 14.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 37.14sWARNglobal_costmap.global_costmapSensor origin at (35.12, 15.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569226 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569226 ms (missed cycles : 2).[0m ×2 + 37.99sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.14sWARNglobal_costmap.global_costmapSensor origin at (35.12, 15.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497071 ms (missed cycles : 2). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497071 ms (missed cycles : 2).[0m ×2 + 38.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.99sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070705 ms (missed cycles : 4). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070705 ms (missed cycles : 4).[0m ×2 + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402621 ms (missed cycles : 2). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402621 ms (missed cycles : 2).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.028ms + 41.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 86.0 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 41.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 86.0 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.719ms + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246196 ms (missed cycles : 2). + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246196 ms (missed cycles : 2).[0m ×2 + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.977ms + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.401ms + 42.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.015ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.806ms + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301254 ms (missed cycles : 4). + 42.83sWARNstate_estimatorOptimization exceeded the configured duration by 12189370ns + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301254 ms (missed cycles : 4).[0m ×2 + 42.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 43.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks. + 43.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.038ms + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 43.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169450 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169450 ms (missed cycles : 3).[0m ×2 + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.408ms + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879621 ms (missed cycles : 4). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879621 ms (missed cycles : 4).[0m ×2 + 45.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.2 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.2 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.193ms + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034165 ms (missed cycles : 3). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034165 ms (missed cycles : 3).[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198500 ms (missed cycles : 4). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198500 ms (missed cycles : 4).[0m ×2 + 47.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.4 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.034ms + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706337 ms (missed cycles : 4). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706337 ms (missed cycles : 4).[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.861ms + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.215ms + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681971 ms (missed cycles : 3). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681971 ms (missed cycles : 3).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.973ms + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.326ms + 49.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.6 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 94.6 s (AMCL untrusted, spread=0.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139831 ms (missed cycles : 3). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139831 ms (missed cycles : 3).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 51.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.010ms + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035703 ms (missed cycles : 4). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035703 ms (missed cycles : 4).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.919ms + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 51.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.8 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 96.8 s (AMCL untrusted, spread=0.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627094 ms (missed cycles : 4). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627094 ms (missed cycles : 4).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 52.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.361ms + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302151 ms (missed cycles : 5). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302151 ms (missed cycles : 5).[0m ×2 + 53.54sWARNstate_estimatorOptimization exceeded the configured duration by 14116848ns + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 54.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.067ms + 54.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 54.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 54.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992469 ms (missed cycles : 3). + 54.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992469 ms (missed cycles : 3).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.378ms + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103400 ms (missed cycles : 3). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103400 ms (missed cycles : 3).[0m ×2 + 55.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.542ms + 56.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 56.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442974 ms (missed cycles : 2). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442974 ms (missed cycles : 2).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 57.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534632 ms (missed cycles : 3). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534632 ms (missed cycles : 3).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.642ms + 58.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 58.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 58.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196861 ms (missed cycles : 3). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196861 ms (missed cycles : 3).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 59.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937384 ms (missed cycles : 4). + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937384 ms (missed cycles : 4).[0m ×2 + 60.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 60.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787705622.26670194 seconds ×3 + 60.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 60.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531347 ms (missed cycles : 6). + 60.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531347 ms (missed cycles : 6).[0m ×2 + 61.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 61.19sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787705622.86550069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.58sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 61.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980666 ms (missed cycles : 3). + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980666 ms (missed cycles : 3).[0m ×2 + 62.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 62.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 62.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826250 ms (missed cycles : 3). + 62.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826250 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.3s	149 warnings · 269 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357267 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357267 ms (missed cycles : 3).[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.907ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903240 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903240 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667043 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667043 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849117 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849117 ms (missed cycles : 2).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059483 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059483 ms (missed cycles : 3).[0m ×2 + 12.01sWARNstate_estimatorOptimization exceeded the configured duration by 2312816ns + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709806 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709806 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093332 ms (missed cycles : 5). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093332 ms (missed cycles : 5).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010986 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010986 ms (missed cycles : 3).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420080 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420080 ms (missed cycles : 3).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272439 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272439 ms (missed cycles : 3).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001483 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001483 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232989 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232989 ms (missed cycles : 2).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263486 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263486 ms (missed cycles : 2).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542593 ms (missed cycles : 3). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542593 ms (missed cycles : 3).[0m ×2 + 22.05sWARNstate_estimatorOptimization exceeded the configured duration by 34070167ns + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182429 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182429 ms (missed cycles : 3).[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948305 ms (missed cycles : 3). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948305 ms (missed cycles : 3).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829146 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829146 ms (missed cycles : 3).[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173073 ms (missed cycles : 3). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173073 ms (missed cycles : 3).[0m ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796355 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796355 ms (missed cycles : 2).[0m ×2 + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666065 ms (missed cycles : 4). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666065 ms (missed cycles : 4).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306733 ms (missed cycles : 4). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306733 ms (missed cycles : 4).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468905 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468905 ms (missed cycles : 3).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843774 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843774 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417228 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417228 ms (missed cycles : 3).[0m ×2 + 32.05sWARNstate_estimatorOptimization exceeded the configured duration by 35032639ns + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254391 ms (missed cycles : 3). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254391 ms (missed cycles : 3).[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505778 ms (missed cycles : 2). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505778 ms (missed cycles : 2).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597978 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597978 ms (missed cycles : 3).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659205 ms (missed cycles : 3). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659205 ms (missed cycles : 3).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575269 ms (missed cycles : 3). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575269 ms (missed cycles : 3).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680825 ms (missed cycles : 3). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680825 ms (missed cycles : 3).[0m ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845649 ms (missed cycles : 3). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845649 ms (missed cycles : 3).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350160 ms (missed cycles : 3). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350160 ms (missed cycles : 3).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411209 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411209 ms (missed cycles : 3).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373054 ms (missed cycles : 3). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373054 ms (missed cycles : 3).[0m ×2 + 42.72sWARNstate_estimatorOptimization exceeded the configured duration by 4829136ns + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4).[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 47.41sINFOjoint_trajectory_controllerGoal reached, success! + 47.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 seconds ×3 + 47.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 48.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 49.11sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 49.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	32.5s	171 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937068 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937068 ms (missed cycles : 5).[0m ×2 + 0.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225232 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225232 ms (missed cycles : 2).[0m ×2 + 2.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=7.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=7.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085412 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085412 ms (missed cycles : 3).[0m ×2 + 2.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.59sWARNstate_estimatorOptimization exceeded the configured duration by 33844994ns + 2.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787705532.44411683 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.66sINFOros2_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 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478584 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478584 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787705534.06529951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.4 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.4 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673573 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673573 ms (missed cycles : 4).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018167 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018167 ms (missed cycles : 3).[0m ×2 + 6.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 19.6 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895797 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895797 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.93sINFOjoint_trajectory_controllerReceived new action goal + 6.93sINFOjoint_trajectory_controllerAccepted new action goal + 6.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.43sINFOros2_control_nodeMuJoCo sim: 9.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975768 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975768 ms (missed cycles : 3).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.405ms + 8.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=7.15); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 21.8 s (AMCL untrusted, spread=7.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.603ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514925 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514925 ms (missed cycles : 3).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.943ms + 9.44sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.993ms + 9.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.841ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342052 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342052 ms (missed cycles : 4).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.708ms + 10.13sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.318ms + 10.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.722ms + 10.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.252ms + 10.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.775ms + 10.87sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=7.91); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.87sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.0 s (AMCL untrusted, spread=7.91); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053700 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053700 ms (missed cycles : 2).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.072ms + 11.23sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.250ms + 11.53sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.510ms + 11.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.402ms + 11.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.378ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165932 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165932 ms (missed cycles : 3).[0m ×2 + 12.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.677ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 12.65sWARNstate_estimatorOptimization exceeded the configured duration by 1294255ns + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.416ms + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924383 ms (missed cycles : 5). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924383 ms (missed cycles : 5).[0m ×2 + 13.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=9.77); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.2 s (AMCL untrusted, spread=9.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.776ms + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 13.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.485ms + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774171 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774171 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.747ms + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.727ms + 15.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=5.53); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.2 s (AMCL untrusted, spread=5.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059622 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059622 ms (missed cycles : 3).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.486ms + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.328ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997183 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997183 ms (missed cycles : 3).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.996ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400958 ms (missed cycles : 6). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400958 ms (missed cycles : 6).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.021ms + 17.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=1.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.4 s (AMCL untrusted, spread=1.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.277ms + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976204 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976204 ms (missed cycles : 3).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.363ms + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759271 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759271 ms (missed cycles : 3).[0m ×2 + 19.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.88); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.6 s (AMCL untrusted, spread=0.88); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.223ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.090ms + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784639 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784639 ms (missed cycles : 3).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.071ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807869 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807869 ms (missed cycles : 4).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.660ms + 21.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms ×2 + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.166ms ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484048 ms (missed cycles : 5). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484048 ms (missed cycles : 5).[0m ×2 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 22.66sWARNstate_estimatorOptimization exceeded the configured duration by 6807307ns + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.326ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569979 ms (missed cycles : 3). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569979 ms (missed cycles : 3).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 23.87sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.87sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.687ms + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.436ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255867 ms (missed cycles : 3). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255867 ms (missed cycles : 3).[0m ×2 + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.331ms + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.102ms + 25.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646644 ms (missed cycles : 3). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646644 ms (missed cycles : 3).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.695ms + 26.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.07sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.296ms + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.704ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772711 ms (missed cycles : 3). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772711 ms (missed cycles : 3).[0m ×2 + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.772ms + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.129ms + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.507ms + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118524 ms (missed cycles : 4). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118524 ms (missed cycles : 4).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.289ms + 28.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.27sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.510ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.683ms + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021890 ms (missed cycles : 4). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021890 ms (missed cycles : 4).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.539ms + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.956ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518018 ms (missed cycles : 4). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518018 ms (missed cycles : 4).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.056ms + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 30.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.911ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216720 ms (missed cycles : 4). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216720 ms (missed cycles : 4).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.845ms + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.063ms + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 32.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5).[0m ×2 + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 33.06sWARNstate_estimatorOptimization exceeded the configured duration by 6471344ns + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.372ms + 33.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3).[0m ×2 + 34.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.863ms + 34.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.47sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.210ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3).[0m ×2 + 35.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 36.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705565.93544698 seconds ×3 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2).[0m ×2 + 36.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.502ms + 36.25sWARNlocal_costmap.local_costmapSensor origin at (-4.91, 20.68) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 36.25sWARNlocal_costmap.local_costmapSensor origin at (-5.81, 20.65) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 36.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.791ms + 36.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.67sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705566.53654671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.08sINFOobjective_server_nodeFound path in 0 iterations (8.63e-07 s). ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.8s	143 warnings · 198 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.473ms + 0.94sWARNglobal_costmap.global_costmapSensor origin at (28.74, 42.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.94sWARNglobal_costmap.global_costmapSensor origin at (28.16, 42.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359811 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359811 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.089ms + 1.35sWARNstate_estimatorOptimization exceeded the configured duration by 26523625ns + 1.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 254.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 254.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.94sWARNglobal_costmap.global_costmapSensor origin at (28.80, 42.13) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.94sWARNglobal_costmap.global_costmapSensor origin at (28.22, 42.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356374 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356374 ms (missed cycles : 3).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.309ms + 2.94sWARNglobal_costmap.global_costmapSensor origin at (28.71, 42.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.94sWARNglobal_costmap.global_costmapSensor origin at (28.21, 42.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427608 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427608 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.890ms + 3.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 257.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 257.0 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.963ms + 3.94sWARNglobal_costmap.global_costmapSensor origin at (28.48, 41.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.94sWARNglobal_costmap.global_costmapSensor origin at (28.11, 42.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381527 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381527 ms (missed cycles : 3).[0m ×2 + 4.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787705774.26958227 seconds ×3 + 4.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 4.94sWARNglobal_costmap.global_costmapSensor origin at (28.44, 41.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 4.94sWARNglobal_costmap.global_costmapSensor origin at (28.05, 42.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787705774.86157608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902632 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902632 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 259.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 259.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.94sWARNglobal_costmap.global_costmapSensor origin at (28.05, 42.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979735 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979735 ms (missed cycles : 2).[0m ×2 + 6.94sWARNglobal_costmap.global_costmapSensor origin at (28.06, 42.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012827 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012827 ms (missed cycles : 2).[0m ×2 + 7.41sINFOros2_control_nodeMuJoCo sim: 15.76% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 261.2 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.04sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 261.2 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119795 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119795 ms (missed cycles : 2).[0m ×2 + 8.94sWARNglobal_costmap.global_costmapSensor origin at (28.46, 41.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.94sWARNglobal_costmap.global_costmapSensor origin at (28.06, 42.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695388 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695388 ms (missed cycles : 3).[0m ×2 + 9.94sWARNglobal_costmap.global_costmapSensor origin at (28.47, 41.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.94sWARNglobal_costmap.global_costmapSensor origin at (28.07, 42.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 263.4 s (AMCL untrusted, spread=0.51); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 263.4 s (AMCL untrusted, spread=0.51); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702451 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702451 ms (missed cycles : 2).[0m ×2 + 10.94sWARNglobal_costmap.global_costmapSensor origin at (28.48, 41.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 10.94sWARNglobal_costmap.global_costmapSensor origin at (28.07, 42.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953734 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953734 ms (missed cycles : 3).[0m ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.39sWARNstate_estimatorOptimization exceeded the configured duration by 63542072ns + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (6.18e-07 s). ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 12.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 265.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 265.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 12.39sINFOobjective_server_nodeFound path in 33 iterations (0.0508319 s). ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286671 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286671 ms (missed cycles : 4).[0m ×2 + 12.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.86sINFOobjective_server_nodeFound path in 0 iterations (8.41e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947785 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947785 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 14.23sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 267.4 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 267.4 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548116 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548116 ms (missed cycles : 3).[0m ×2 + 14.94sWARNglobal_costmap.global_costmapSensor origin at (28.49, 41.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.94sWARNglobal_costmap.global_costmapSensor origin at (28.08, 42.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145887 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145887 ms (missed cycles : 4).[0m ×2 + 15.94sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.94sWARNglobal_costmap.global_costmapSensor origin at (28.15, 42.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 16.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 16.94sWARNglobal_costmap.global_costmapSensor origin at (28.73, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.94sWARNglobal_costmap.global_costmapSensor origin at (28.33, 42.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 17.94sWARNglobal_costmap.global_costmapSensor origin at (28.96, 40.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.94sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 18.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 18.94sWARNglobal_costmap.global_costmapSensor origin at (29.14, 40.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.94sWARNglobal_costmap.global_costmapSensor origin at (28.75, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2).[0m ×2 + 19.94sWARNglobal_costmap.global_costmapSensor origin at (29.25, 40.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.94sWARNglobal_costmap.global_costmapSensor origin at (28.86, 41.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705790.10374641 seconds ×3 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 20.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3).[0m ×2 + 20.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705790.74813890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.88sINFOmove_groupClearing octomap...[0m ×2 + 20.88sINFOmove_groupOctomap cleared.[0m ×2 + 20.94sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.94sWARNglobal_costmap.global_costmapSensor origin at (28.89, 41.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705791.26827908 seconds ×3 + 21.94sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.94sWARNglobal_costmap.global_costmapSensor origin at (28.88, 41.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3).[0m ×2 + 21.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705791.85154319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.13sWARNstate_estimatorOptimization exceeded the configured duration by 4756161ns + 22.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.44sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705792.35168123 seconds ×3 + 22.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	106 errors · 61 warnings · 452 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 0.74sWARNglobal_costmap.global_costmapSensor origin at (28.96, 40.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.74sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.77) 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: 1000 particles 723 points - 1.747ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 1.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 1.74sWARNglobal_costmap.global_costmapSensor origin at (29.14, 40.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.74sWARNglobal_costmap.global_costmapSensor origin at (28.75, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2).[0m ×2 + 2.74sWARNglobal_costmap.global_costmapSensor origin at (29.25, 40.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.74sWARNglobal_costmap.global_costmapSensor origin at (28.86, 41.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705790.10374641 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×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 - 2.405ms + 3.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705790.74813890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.74sWARNglobal_costmap.global_costmapSensor origin at (28.89, 41.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705791.26827908 seconds ×3 + 4.74sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.74sWARNglobal_costmap.global_costmapSensor origin at (28.88, 41.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705791.85154319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 4756161ns + 5.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.24sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705792.35168123 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.74sWARNglobal_costmap.global_costmapSensor origin at (28.99, 37.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.74sWARNglobal_costmap.global_costmapSensor origin at (28.65, 38.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804258 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804258 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479655 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479655 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484430 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484430 ms (missed cycles : 3).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958851 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958851 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203042 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203042 ms (missed cycles : 3).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922818 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922818 ms (missed cycles : 2).[0m ×2 + 11.43sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 11.50sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORweb_video_auth_proxy-38process has died [pid 9711, 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 + 11.50sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 11.55sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORweb_bridge_auth_proxy-37process has died [pid 9710, 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 + 11.56sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 11.62sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 11.66sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 11.71sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 11.75sINFOvideo_server-36process has finished cleanly [pid 9709] ×2 + 11.76sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 11.79sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.82sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 11.86sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 11.91sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 11.94sINFOtf2_web_republisher_node-35process has finished cleanly [pid 9707] ×2 + 11.95sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 11.99sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415541 ms (missed cycles : 2). + 12.03sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 12.08sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787705798.852 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.08sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 12.13sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 12.13sINFOcontroller_managerShutdown request received.... + 12.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.13sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.13sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.13sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.13sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.13sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.14sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.14sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.14sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.14sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.14sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.14sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.14sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.14sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.14sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.14sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.14sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.14sINFOcontroller_managerShutting down the controller manager. + 12.14sINFOui_teleop_bridge-33process has finished cleanly [pid 9686] ×2 + 12.14sINFOcomponent_container_mt-31process has finished cleanly [pid 9682] ×2 + 12.16sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 12.17sERRORmove_group-24process has died [pid 9638, 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_nzp3jvqi --params-file /tmp/launch_params_ahmz303s --params-file /tmp/launch_params_mwzdr60h --params-file /tmp/launch_params_khyd9fd6 --params-file /tmp/launch_params_ae6v7hbg --params-file /tmp/launch_params_9hayxn4o']. ×2 + 12.17sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 12.17sINFOexecute_objective_bridge-32process has finished cleanly [pid 9685] ×2 + 12.19sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.22sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.24sWARNamcl_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. + 12.25sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] ×2 + 12.28sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] ×2 + 12.29sINFOobjective_server_node_main-29process has finished cleanly [pid 9677] ×2 + 12.31sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] ×2 + 12.34sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] ×2 + 12.37sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 12.40sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.43sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.43sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.43sINFOmap_serverDeactivating + 12.43sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.44sINFOmap_serverCleaning up + 12.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.46sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.46sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.46sINFOcontroller_serverDeactivating + 12.46sERRORamclThe bond connection to the lifecycle manager has been broken + 12.46sINFOlocal_costmap.local_costmapDeactivating + 12.46sINFOvideo_server2026/08/26 00:56:38 INF shutting down gracefully ×2 + 12.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.46sINFOvideo_server2026/08/26 00:56:38 INF [WebRTC] closing ×2 + 12.46sINFOvideo_server2026/08/26 00:56:38 INF [RTSP] closing ×2 + 12.46sINFOvideo_server2026/08/26 00:56:38 INF waiting for running hooks ×2 + 12.46sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.47sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.47sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.47sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415541 ms (missed cycles : 2).[0m ×2 + 12.47sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.48sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.48sERRORmove_groupStack trace (most recent call last) in thread 10311: ×2 + 12.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a5f964b63, in __clone ×2 + 12.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a5f8d7b83, in ×2 + 12.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a5fb69db3, in ×2 + 12.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f4a602da637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a5fefb620, in rclcpp::Rate::sleep() ×2 + 12.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a5fe3dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a5fdff087, in ×2 + 12.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a5fb38390, in __cxa_throw ×2 + 12.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a5fb22a54, in std::terminate() ×2 + 12.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a5fb380d9, in ×2 + 12.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a5fb22ff4, in ×2 + 12.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a5f8638fe, in abort ×2 + 12.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a5f88027d, in raise ×2 + 12.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a5f8d9c0c, in pthread_kill ×2 + 12.48sERRORmove_groupAborted (Signal sent by tkill() 9638 0) ×2 + 12.48sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.48sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.48sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.49sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.49sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.49sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.49sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.49sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.49sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.49sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.49sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.49sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.49sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.49sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.49sINFOobjective_server_node[2026-08-26 00:56:39.258] [moveit_pro_license] [critical] ×2 + 12.49sINFOobjective_server_node************************************************* ×4 + 12.49sINFOobjective_server_node* MoveIt Pro License ×2 + 12.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.50sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.50sWARNamcl_odom_gateamcl_odom_gate: latency-compensation target is newer than the odom buffer (odom TF lag exceeds latency_compensation_sec=0.30 s); clamped, under-compensating.[0m ×2 + 12.50sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.50sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.50sINFOodom_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 + 12.50sINFOodom_qos_relay.pymain() ×2 + 12.50sINFOodom_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 + 12.50sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.50sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.50sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.50sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.50sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.50sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.50sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.50sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.50sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.50sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.50sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 12.51sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.52sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.53sINFOcontroller_serverCleaning up + 12.53sINFOlocal_costmap.local_costmapCleaning up + 12.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.57sINFOsmoother_serverDeactivating + 12.57sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.58sINFOsmoother_serverCleaning up + 12.60sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.60sINFOplanner_serverDeactivating + 12.60sINFOglobal_costmap.global_costmapDeactivating + 12.63sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.63sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.63sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.63sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.63sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.63sINFOvelocity_smootherDeactivating + 12.63sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.65sERRORcomponent_container_isolated-2process has died [pid 9531, 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_e0127c9i --params-file /tmp/launch_params_56dgvc8d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.74sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.74sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.75sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.75sINFOwaypoint_followerDeactivating + 12.75sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.75sINFOplanner_serverCleaning up + 12.76sINFOglobal_costmap.global_costmapCleaning up + 12.77sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.77sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.80sINFObehavior_serverDeactivating + 12.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.81sINFObehavior_serverCleaning up + 12.82sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.82sINFObt_navigatorDeactivating + 12.82sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.83sINFObt_navigatorCleaning up + 12.86sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.87sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.87sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 12.87sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.87sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.87sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.87sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.88sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.88sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.88sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.88sINFOvelocity_smootherCleaning up + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.88sINFOwaypoint_followerCleaning up + 12.91sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.93sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.93sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.93sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.93sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.93sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.93sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.93sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.93sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.93sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.93sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.98sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 9676] ×2 + 12.98sINFObt_navigatorCompleted Cleaning up + 12.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.01sINFOmove_joint_resampler_node-27process has finished cleanly [pid 9675] ×2 + 13.08sINFOcomponent_container_mt-30process has finished cleanly [pid 9680] ×2 + 13.09sINFOwaypoint_manager_node-26process has finished cleanly [pid 9672] ×2 + 13.10sINFOparameter_manager_node-25process has finished cleanly [pid 9670] ×2 + 13.24sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 9617] ×2 + 13.26sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 9618] ×2 + 13.27sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 9538] ×2 + 13.29sERRORcomponent_container_isolated-1process has died [pid 9530, 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_e0127c9i --params-file /tmp/launch_params_o_66coy0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.38sINFOslip_aware_odom-5process has finished cleanly [pid 9534] ×2 + 13.38sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 9537] ×2 + 13.40sERRORodom_qos_relay.py-7process has died [pid 9536, 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 + 13.44sINFOstatic_transform_publisher-3process has finished cleanly [pid 9532] ×2 + 14.35sINFOamcl_odom_gate-6process has finished cleanly [pid 9535] ×2 + 14.41sINFOodom_world_drift-4process has finished cleanly [pid 9533] ×2 + 14.56sINFOweb_bridge-34process has finished cleanly [pid 9706] ×2 + 14.56sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 14.87sINFOros2_control_node-12process has finished cleanly [pid 9619] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 81 warnings · 139 info
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.2 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.062ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442974 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442974 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534632 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534632 ms (missed cycles : 3).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.642ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 2.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.4 s (AMCL untrusted, spread=0.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196861 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196861 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937384 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937384 ms (missed cycles : 4).[0m ×2 + 3.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787705622.26670194 seconds ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531347 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531347 ms (missed cycles : 6).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 4.95sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787705622.86550069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980666 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980666 ms (missed cycles : 3).[0m ×2 + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826250 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826250 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.44sINFOjoint_trajectory_controllerReceived new action goal + 7.44sINFOjoint_trajectory_controllerAccepted new action goal + 7.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.49sWARNstate_estimatorOptimization exceeded the configured duration by 6295116ns + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567330 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567330 ms (missed cycles : 4).[0m ×2 + 8.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810606 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810606 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 9.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282280 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282280 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 9.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 10.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 10.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 10.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 111.8 s (AMCL untrusted, spread=0.30); 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 5.813406 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813406 ms (missed cycles : 4).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.325ms + 11.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958187 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958187 ms (missed cycles : 2).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 12.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.094ms + 12.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 113.8 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133048 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133048 ms (missed cycles : 3).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 13.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.830ms + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648611 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648611 ms (missed cycles : 3).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 14.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 15.34sINFOobjective_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 + 15.35sINFOjoint_trajectory_controllerGot request to cancel goal + 15.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 15.40sERRORobjective_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: 1787705633.31023788 seconds ×3 + 15.48sWARNlocal_costmap.local_costmapSensor origin at (-10.37, 42.56) is out of map bounds (-12.40, 36.95) to (-7.43, 41.92). The costmap cannot raytrace for it. + 15.48sWARNlocal_costmap.local_costmapSensor origin at (-11.26, 42.42) is out of map bounds (-12.40, 36.95) to (-7.43, 41.92). The costmap cannot raytrace for it. + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.872ms + 15.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.198ms + 15.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.784ms + 15.99sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787705633.90069509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636728 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636728 ms (missed cycles : 4).[0m ×2 + 16.42sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.0 s (AMCL untrusted, spread=1.74); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.0 s (AMCL untrusted, spread=1.74); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691259 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691259 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	63 warnings · 98 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937068 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937068 ms (missed cycles : 5).[0m ×2 + 7.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.2 s (AMCL untrusted, spread=7.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225232 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225232 ms (missed cycles : 2).[0m ×2 + 9.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=7.20); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.4 s (AMCL untrusted, spread=7.20); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085412 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085412 ms (missed cycles : 3).[0m ×2 + 10.12sWARNstate_estimatorOptimization exceeded the configured duration by 33844994ns + 10.13sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787705532.44411683 seconds ×3 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478584 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478584 ms (missed cycles : 3).[0m ×2 + 11.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787705534.06529951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.4 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 17.4 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.17sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673573 ms (missed cycles : 4). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673573 ms (missed cycles : 4).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018167 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018167 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	58 warnings · 106 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595368 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595368 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641901 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641901 ms (missed cycles : 4).[0m ×2 + 1.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.15sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.503ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.761ms + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.555ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775486 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775486 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.662ms + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.329ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679122 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679122 ms (missed cycles : 3).[0m ×2 + 3.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.35sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 192.0 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.127ms + 3.85sWARNstate_estimatorOptimization exceeded the configured duration by 22270536ns + 4.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787705709.46087360 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 4.455ms + 4.31sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.177ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265738 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265738 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.336ms + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.312ms + 4.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787705710.05472136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.043ms + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736061 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736061 ms (missed cycles : 4).[0m ×2 + 5.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 7.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 9.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 10.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 11.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.55sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 11.91sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[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 2.030785 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 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 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_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 - 2.043ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 4.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705468.63516426 seconds ×3 + 8.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705469.22015619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3).[0m ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 9.35sWARNstate_estimatorOptimization exceeded the configured duration by 118717092ns + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	50 warnings · 88 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.00sWARNglobal_costmap.global_costmapSensor origin at (28.15, 42.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 1.00sWARNglobal_costmap.global_costmapSensor origin at (28.73, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.00sWARNglobal_costmap.global_costmapSensor origin at (28.33, 42.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 2.00sWARNglobal_costmap.global_costmapSensor origin at (28.96, 40.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.00sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 2.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 3.00sWARNglobal_costmap.global_costmapSensor origin at (29.14, 40.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sWARNglobal_costmap.global_costmapSensor origin at (28.75, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2).[0m ×2 + 4.00sWARNglobal_costmap.global_costmapSensor origin at (29.25, 40.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.00sWARNglobal_costmap.global_costmapSensor origin at (28.86, 41.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705790.10374641 seconds ×3 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 4.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705790.74813890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.94sINFOmove_groupClearing octomap...[0m ×2 + 4.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.00sWARNglobal_costmap.global_costmapSensor origin at (28.89, 41.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705791.26827908 seconds ×3 + 6.00sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.00sWARNglobal_costmap.global_costmapSensor origin at (28.88, 41.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705791.85154319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sWARNstate_estimatorOptimization exceeded the configured duration by 4756161ns + 6.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705792.35168123 seconds ×3 + 6.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.00sWARNglobal_costmap.global_costmapSensor origin at (28.99, 37.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.00sWARNglobal_costmap.global_costmapSensor origin at (28.65, 38.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804258 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804258 ms (missed cycles : 3).[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 6.233242 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_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 - 2.043ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 4.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075675 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503110 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 seconds ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_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 - 2.043ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 4.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	35 warnings · 56 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	35 warnings · 56 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	35 warnings · 56 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	33 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.063ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 1.23sWARNstate_estimatorOptimization exceeded the configured duration by 6471344ns + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.372ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.863ms + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.210ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705565.93544698 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.502ms + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-4.91, 20.68) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-5.81, 20.65) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.791ms + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705566.53654671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (8.63e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	33 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.063ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 1.23sWARNstate_estimatorOptimization exceeded the configured duration by 6471344ns + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.372ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.863ms + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.210ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705565.93544698 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.502ms + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-4.91, 20.68) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-5.81, 20.65) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.791ms + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705566.53654671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (8.63e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	33 warnings · 57 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008341 ms (missed cycles : 4).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.063ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235749 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 1.23sWARNstate_estimatorOptimization exceeded the configured duration by 6471344ns + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.372ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617093 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.863ms + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.64sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.210ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972504 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787705565.93544698 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166675 ms (missed cycles : 2).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.502ms + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-4.91, 20.68) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.42sWARNlocal_costmap.local_costmapSensor origin at (-5.81, 20.65) is out of map bounds (-10.00, 24.85) to (-5.03, 29.83). The costmap cannot raytrace for it. + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.791ms + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=7.85); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787705566.53654671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (8.63e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199885 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926308 ms (missed cycles : 4).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	45 warnings · 88 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.00sWARNglobal_costmap.global_costmapSensor origin at (28.15, 42.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 269.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352044 ms (missed cycles : 3).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 1.00sWARNglobal_costmap.global_costmapSensor origin at (28.73, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.00sWARNglobal_costmap.global_costmapSensor origin at (28.33, 42.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018312 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 2.00sWARNglobal_costmap.global_costmapSensor origin at (28.96, 40.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.00sWARNglobal_costmap.global_costmapSensor origin at (28.56, 41.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 2.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 271.6 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 3.00sWARNglobal_costmap.global_costmapSensor origin at (29.14, 40.61) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sWARNglobal_costmap.global_costmapSensor origin at (28.75, 41.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015370 ms (missed cycles : 2).[0m ×2 + 4.00sWARNglobal_costmap.global_costmapSensor origin at (29.25, 40.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.00sWARNglobal_costmap.global_costmapSensor origin at (28.86, 41.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787705790.10374641 seconds ×3 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 4.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 273.6 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316786 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705790.74813890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.94sINFOmove_groupClearing octomap...[0m ×2 + 4.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.34) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.00sWARNglobal_costmap.global_costmapSensor origin at (28.89, 41.15) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705791.26827908 seconds ×3 + 6.00sWARNglobal_costmap.global_costmapSensor origin at (29.27, 40.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.00sWARNglobal_costmap.global_costmapSensor origin at (28.88, 41.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963828 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705791.85154319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sWARNstate_estimatorOptimization exceeded the configured duration by 4756161ns + 6.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.50sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 275.6 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705792.35168123 seconds ×3 + 6.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765493 ms (missed cycles : 2).[0m ×2 + 0.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787705465.24686742 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158325 ms (missed cycles : 4).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787705465.83501911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167689 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeFound path in 0 iterations (2.518e-05 s). ×2 + 2.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.55sINFOjoint_trajectory_controllerReceived new action goal + 2.55sINFOjoint_trajectory_controllerAccepted new action goal + 2.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687261 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484691 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787705468.63516426 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787705469.22015619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450750 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 6.14sWARNstate_estimatorOptimization exceeded the configured duration by 118717092ns + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763703 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	35 warnings · 56 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	35 warnings · 56 info
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 17197772ns + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234625 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758413 ms (missed cycles : 2).[0m ×2 + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939077 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802632 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787705526.21030664 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 13.58) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.62) is out of map bounds (-4.25, 4.90) to (0.73, 9.88). The costmap cannot raytrace for it. + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.10) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 6.15) is out of map bounds (-5.75, 11.10) to (-0.77, 16.08). The costmap cannot raytrace for it. + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.110ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454534 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787705526.81397867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913565 ms (missed cycles : 2).[0m ×2 + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.2 s (AMCL untrusted, spread=7.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711452 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	30 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796370 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474120 ms (missed cycles : 4).[0m ×2 + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192668 ms (missed cycles : 2).[0m ×2 + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366382 ms (missed cycles : 3).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787705715.93489242 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769893 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787705716.52941775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 200.2 s (AMCL untrusted, spread=1.00); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187173 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 15.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121193 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[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	22 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.90sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.14sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.15sINFOjoint_trajectory_controllerReceived new action goal + 7.15sINFOjoint_trajectory_controllerAccepted new action goal + 7.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[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 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	22 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_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 4.484028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.90sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.14sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281482 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484028 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 3.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.93sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 4.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	22 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082215 ms (missed cycles : 3).[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	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	19 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233242 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494218 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sWARNstate_estimatorOptimization exceeded the configured duration by 37506273ns + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705419.86822701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705419.87845111 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797414 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705420.49166346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705420.50190735 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165965 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705421.07727313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705421.22786069 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705421.85365248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705421.92380738 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667489 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787705422.52030158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320919 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2